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Localization of AUVs using depth information of underwater structures from a monocular camera

Authors
Jung, J.Choi, S.Choi, H.-T.Myung, H.
Issue Date
2016
Publisher
Institute of Electrical and Electronics Engineers Inc.
Keywords
AUV; Localization; Vision
Citation
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, pp 444 - 446
Pages
3
Journal Title
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Start Page
444
End Page
446
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8536
DOI
10.1109/URAI.2016.7734078
ISSN
0000-0000
Abstract
In this paper, we propose a method of AUV localization and mapping using visual measurement of underwater structures. Since the inertial navigation system (INS) of AUV suffers from drift, observing fixed objects can enhance the localization performance. Depth map estimation of underwater structures and tracking of an AUV are complementarily handled in a framework of pose graph optimization. Estimation of absolute scale is resolved by exploiting incremental measurements of inertial sensors. The proposed method is validated by experiments performed in a structured basin environment. ? 2016 IEEE.
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