Particle Filter-based Direct Visual Servoing

[stepheffects]

The particle filter will be used to provide direct visual servoing with the sub and its various tasks. The visual servoing will take in a desired visual landmark and will attempt to align the subs cameras to the landmark. Each particle corresponds to the thruster commands that will yield a new camera postion. Thus they will be 6 dimensional with each dimension referring to a degree of freedom in the sub. Each iteration the best particle will be sent as a thruster command to the sub and the particles will be resampled based on the new location of the visual landmark.

Particle filter-based direct visual servoing