Underwater Localization using an Optic and Acoustic Stereo Imaging
System for Autonomous Intervention Robots
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.