TY - GEN
T1 - Experiments with underwater robot localization and tracking
AU - Corked, Peter
AU - Detweiler, Carrick
AU - Dunbabin, Matthew
AU - Hamilton, Michael
AU - Rus, Daniela
AU - Vasilescu, Iuliu
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=36349005378&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2007.364181
DO - 10.1109/ROBOT.2007.364181
M3 - Conference contribution
AN - SCOPUS:36349005378
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4556
EP - 4561
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -