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Underwater Localization using an Optic and Acoustic Stereo Imaging System for Autonomous Intervention Robots
  • Jisung Park,
  • Jinwhan Kim
Jisung Park
Korea Advanced Institute of Science and Technology

Corresponding Author:[email protected]

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Jinwhan Kim
Korea Advanced Institute of Science and Technology
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Optical and acoustic stereo imaging has great potential for the precise and consistent localization of intervention underwater robots; however, it is still being explored due to its sensing limitations and various technical challenges. This study presents a novel localization method by combining an inertial navigation system and an optical and acoustic stereo imaging system. As a strategy for localization correction relative to underwater structures, the robot’s pose is estimated based on a single acoustic image using a sonar simulator for mid-range localization, and a robust visual tracking using a 3-D wireframe model is employed for high-precision localization near the target structures. The performance of the proposed technique was demonstrated through experimental validation using real data obtained from a test tank.
03 Apr 2022Submitted to Electronics Letters
05 Apr 2022Submission Checks Completed
05 Apr 2022Assigned to Editor
07 Apr 2022Reviewer(s) Assigned
20 Apr 2022Review(s) Completed, Editorial Evaluation Pending
02 May 2022Editorial Decision: Revise Minor
12 May 20221st Revision Received
14 May 2022Submission Checks Completed
14 May 2022Assigned to Editor
14 May 2022Review(s) Completed, Editorial Evaluation Pending
18 May 2022Editorial Decision: Accept
Jul 2022Published in Electronics Letters volume 58 issue 15 on pages 597-599. 10.1049/ell2.12538