Publisher DOI: 10.1109/IROS.2017.8206279
Title: Low-cost monocular localization with active markers for micro autonomous underwater vehicles
Language: English
Authors: Buchan, Austin D. 
Solowjow, Eugen 
Dücker, Daniel-André  
Kreuzer, Edwin 
Issue Date: 13-Dec-2017
Publisher: IEEE
Source: IEEE International Conference on Intelligent Robots and Systems (2017-September): 8206279, 4181-4188 (2017-12-13)
Abstract (english): 
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.
Conference: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 
URI: http://hdl.handle.net/11420/3730
ISBN: 978-1-5386-2682-5
Institute: Mechanik und Meerestechnik M-13 
Document Type: Chapter/Article (Proceedings)
Project: Zustandsschätzung von Strömungsfeldern und Quellfindung mittels dynamisch positionierter Unterwasser-Sensorknoten. 
Dezentrale kooperative Exploration von nichtstatinären räumlich und zeitlich verteilten Feldern mit autonomen Unterwasserfahrzeugen 
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