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Localization of AUVs using visual information of underwater structures and artificial landmarks

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Abstract

Autonomous underwater vehicles (AUVs) can perform flexible operations in complex underwater environments due to their autonomy. Localization is one of the key components of autonomous navigation. Since the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of localizing AUVs by exploiting visual measurements of underwater structures and artificial landmarks. In a framework of particle filtering, a camera measurement model that emulates the camera’s observation of underwater structures is designed. The particle weight is then updated based on the extracted visual information of the underwater structures. Detected artificial landmarks are also used in the particle weight update. The proposed method is validated by experiments performed in a structured basin environment.

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Acknowledgements

This research was supported in part by grant No. 10043928 from the Industrial Source Technology Development Programs of the MOTIE (Ministry Of Trade, Industry & Energy), Korea, and in part by the project, Development of basic SLAM technologies for autonomous underwater robot and software environment for MOSS-IvP sponsored by Korea Research Institute of Ships & Ocean Engineering (KRISO). The students are supported by Korea Ministry of Land, Infrastructure and Transport (MOLIT) as U-City Master and Doctor Course Grant Program.

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Authors and Affiliations

  1. Ocean System Engineering Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), 32 Yuseong-daero 1312 beon-gil, Yuseong-gu, Daejeon, 34103, Republic of Korea

    Jongdae Jung & Hyun-Taek Choi

  2. Applied Technology Division, Korea Institute of Robot and Convergence (KIRO), 39 Jigok-ro, Nam-gu, Pohang, 709-784, Republic of Korea

    Ji-Hong Li

  3. Urban Robotics Laboratory, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea

    Hyun Myung

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  1. Jongdae Jung
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  2. Ji-Hong Li
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  3. Hyun-Taek Choi
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  4. Hyun Myung
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Correspondence to Hyun Myung.

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Jung, J., Li, JH., Choi, HT. et al. Localization of AUVs using visual information of underwater structures and artificial landmarks. Intel Serv Robotics 10, 67–76 (2017). https://doi.org/10.1007/s11370-016-0210-9

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  • DOI: https://doi.org/10.1007/s11370-016-0210-9

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