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ICRA
2007
IEEE

Experiments with Underwater Robot Localization and Tracking

10 years 4 months ago
Experiments with Underwater Robot Localization and Tracking
— This paper describes a novel experiment in which two very different methods of underwater robot localization are compared. The first method is based on a geometric approach in which a mobile node moves within a field of static nodes, and all nodes are capable of estimating the range to their neighbours acoustically. The second method uses visual odometry, from stereo cameras, by integrating scaled optical flow. The fundamental algorithmic principles of each localization technique is described. We also present experimental results comparing acoustic localization with GPS for surface operation, and a comparison of acoustic and visual methods for underwater operation.
Peter I. Corke, Carrick Detweiler, Matthew Dunbabi
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Peter I. Corke, Carrick Detweiler, Matthew Dunbabin, Michael Hamilton, Daniela Rus, Iuliu Vasilescu
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