Abstract
This paper deals with the design, construction and calibration processes in the use of angle sensors to improve the accuracy of a vision-based positioning system. These sensors are used for measurements that cannot be determined accurately (enough) from motion vision techniques. Furthermore, they provide a mechanism to stabilize the video data with respect to undesirable motion effects, e.g., cyclic motions in the surf zone. To use the integrated system effectively, a high-precision calibration procedure is employed to determine the transformations among the coordinate systems of the angle sensors and the vision system. With the positioning information presented in a common coordinate frame, the ROV control system can be optimized for operations that require high-precision navigation, trajectory following, terrain mapping, etc. Results of the calibration process and the testing of the system are presented to evaluate effectiveness and performance.
