Low-cost monocular localization with active markers for micro autonomous underwater vehicles

Publikationstyp
Conference Paper
Date Issued
2017-12-13
Sprache
English
Author(s)
Buchan, Austin D.  
Solowjow, Eugen  
Dücker, Daniel-André 
Kreuzer, Edwin  
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/3730
Volume
2017
Start Page
4181
End Page
4188
Article Number
8206279
Citation
IEEE International Conference on Intelligent Robots and Systems (2017-September): 8206279, 4181-4188 (2017-12-13)
Contribution to Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017  
Publisher DOI
10.1109/IROS.2017.8206279
Scopus ID
2-s2.0-85041946387
Publisher
IEEE
We present an approach for estimating the absolute poses of a swarm Micro Autonomous Underwater Vehicles (μAUVs) by decomposing the problem into few absolute position estimations and many relative pose estimations. As power constraints are critical to small mobile robots, we develop an extension of active marker pose estimation using color information to solve the marker correspondence problem, and show that this approach is more energy efficient than reflective estimation approaches. We show the feasibility of this approach by localizing a robot navigating in an underwater test tank environment. Detailed analysis is presented characterizing the noise and error properties when estimating robot poses from fixed on-board markers. Moreover, we provide comparisons in power and computational cost for other popular methods of underwater localization.
DDC Class
600: Technik