An underwater visual navigation method based on multiple ArUco markers
An underwater visual navigation method based on multiple ArUco markers
Underwater navigation presents crucial issues because of the rapid attenuation of electronic magnetic waves. The conventional underwater navigation methods are achieved by acoustic equip-ment, such as the ultra-short-baseline localisation systems and Doppler velocity logs, etc. However, they suffer from low fresh rate, low bandwidth, environmental disturbance and high cost. In the paper, a novel underwater visual navigation is investigated based on the multiple ArUco markers. Unlike other underwater navigation approaches based on the artificial markers, the noise model of the pose estimation of a single marker and an optimal algorithm of the multiple markers are developed to increase the precision of the method. The experimental tests are conducted in the towing tank. The results show that the proposed method is able to localise the underwater vehicle accurately.
Artificial fiducial marker, Underwater navigation, Visual localisation
Xu, Zhizun
48299771-f38a-45d6-8700-7f7bab3edcf7
Haroutunian, Maryam
f519154e-664f-40a4-9833-38c5f17f31d5
Murphy, Alan J.
8e021dad-0c60-446b-a14e-cddd09d44626
Neasham, Jeff
66bcaecc-b93f-416f-8f2c-6a1c5608d892
Norman, Rose
6d2518aa-ece8-498f-82dc-dee5ec7b1b37
Xu, Zhizun
48299771-f38a-45d6-8700-7f7bab3edcf7
Haroutunian, Maryam
f519154e-664f-40a4-9833-38c5f17f31d5
Murphy, Alan J.
8e021dad-0c60-446b-a14e-cddd09d44626
Neasham, Jeff
66bcaecc-b93f-416f-8f2c-6a1c5608d892
Norman, Rose
6d2518aa-ece8-498f-82dc-dee5ec7b1b37
Xu, Zhizun, Haroutunian, Maryam, Murphy, Alan J., Neasham, Jeff and Norman, Rose
(2021)
An underwater visual navigation method based on multiple ArUco markers.
Journal of Marine Science and Engineering, 9 (12), [1432].
(doi:10.3390/jmse9121432).
Abstract
Underwater navigation presents crucial issues because of the rapid attenuation of electronic magnetic waves. The conventional underwater navigation methods are achieved by acoustic equip-ment, such as the ultra-short-baseline localisation systems and Doppler velocity logs, etc. However, they suffer from low fresh rate, low bandwidth, environmental disturbance and high cost. In the paper, a novel underwater visual navigation is investigated based on the multiple ArUco markers. Unlike other underwater navigation approaches based on the artificial markers, the noise model of the pose estimation of a single marker and an optimal algorithm of the multiple markers are developed to increase the precision of the method. The experimental tests are conducted in the towing tank. The results show that the proposed method is able to localise the underwater vehicle accurately.
Text
jmse-09-01432
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More information
Accepted/In Press date: 11 December 2021
e-pub ahead of print date: 15 December 2021
Additional Information:
Funding Information:
Acknowledgments: The authors would like to acknowledge the generous support of John and Vivien Prime in funding aspects of this work.
Keywords:
Artificial fiducial marker, Underwater navigation, Visual localisation
Identifiers
Local EPrints ID: 483680
URI: http://eprints.soton.ac.uk/id/eprint/483680
PURE UUID: 25bbaa8d-a3e5-4b38-9592-10c3dc602611
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Date deposited: 03 Nov 2023 17:51
Last modified: 17 Mar 2024 13:35
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Contributors
Author:
Zhizun Xu
Author:
Maryam Haroutunian
Author:
Alan J. Murphy
Author:
Jeff Neasham
Author:
Rose Norman
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