SS6-3　Investigation of the Practical Use of Motion Sensing by the Optical Flow Estimation for Motion Control System of a Boat

◎Shigenobu Kato，Akio Numakura，Kazuyuki Sato，Tasuku Miyoshi，Chon hae Kim，Takuya Akashi（Iwate University）

There is a fishing method to use fishing equipment and handle the boat simultaneously by one person, because the boat must be kept the same position. This professional technique require a lot of work. Also, it is difficult for beginner to learn the technique. To solve these problem, motion control system is important. In our previous work, the optical flow of the sea bottom is estimated for this purpose. In this report, we experiment using an experimental vessel in tank of water with wave-making device, and investigate whether it is possible to estimate the vessel moving. As a result, we achieve strong simularity between actual moving and estimated result except when the wave are too high.