Localization of AUVs using visual information of underwater structures and artificial landmarks

详细信息    查看全文

• 作者：Jongdae Jung ; Ji-Hong Li ; Hyun-Taek Choi ; Hyun Myung
• 关键词：Autonomous navigation ; Localization ; Vision ; Underwater structures ; Particle filter
• 刊名：Intelligent Service Robotics
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：10
• 期：1
• 页码：67-76
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics; Artificial Intelligence (incl. Robotics); User Interfaces and Human Computer Interaction; Vibration, Dynamical Systems, Control; Robotics and Automation;
• 出版者：Springer Berlin Heidelberg
• ISSN：1861-2784
• 卷排序：10

文摘

Autonomous underwater vehicles (AUVs) can perform flexible operations in complex underwater environments due to their autonomy. Localization is one of the key components of autonomous navigation. Since the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of localizing AUVs by exploiting visual measurements of underwater structures and artificial landmarks. In a framework of particle filtering, a camera measurement model that emulates the camera’s observation of underwater structures is designed. The particle weight is then updated based on the extracted visual information of the underwater structures. Detected artificial landmarks are also used in the particle weight update. The proposed method is validated by experiments performed in a structured basin environment.