Experiments with underwater robot localization and tracking

Peter Corked, Carrick Detweiler, Matthew Dunbabin, Michael Hamilton, Daniela Rus, Iuliu Vasilescu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

120 Scopus citations

Abstract

This paper describes a novel experiment in which two very different methods of underwater robot localization are compared. The first method is based on a geometric approach in which a mobile node moves within a field of static nodes, and all nodes are capable of estimating the range to their neighbours acoustically. The second method uses visual odometry, from stereo cameras, by integrating scaled optical flow. The fundamental algorithmic principles of each localization technique is described. We also present experimental results comparing acoustic localization with GPS for surface operation, and a comparison of acoustic and visual methods for underwater operation.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4556-4561
Number of pages6
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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