Camera-IMU-based Underwater Localization
Sensor-based localization,as one of the essential parts for robot navigation,continues to be a major research focus in mobile robotics.In this paper,we consider a more challenging localization scenario where an autonomous robotic fish localizes itself with onboard sensors(camera and Inertial Measurement Unit(IMU))in the water.Specifically,an underwater image processing algorithm is introduced to derive the distance and relative angle between the robot and the artificial landmark; accurate orientation and rough odometry of the robot are acquired by onboard IMU.Based on these four key information extracted from the camera and IMU,a Monte Carlo Localization(MCL)algorithm is established to localize the robotic fish online.A series of experiments are conducted with the robotic fish to validate the effectiveness of proposed MCL algorithm.
Robotic fish Monte Carlo Localization underwater image processing robot odometry
Jiawei Zhang Wei Wang Guangming Xie Hong Shi
State Key Laboratory for Turbulence and Complex Systems,College of Engineering,Peking University,Bei Department of Mathematics and Physics,Beijing Institute of Petrochemical Technology,Beijing 102617,P
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8589-8594
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）