文献类型：期刊文献

英文题名：An Underwater Visual Navigation Method Based on Multiple ArUco Markers

作者：Xu, Zhizun[1];Haroutunian, Maryam[2];Murphy, Alan J.[2];Neasham, Jeff[2];Norman, Rose[2]

机构：[1]Guangdong Ocean Univ, Maritime Coll, Zhanjiang 524000, Peoples R China;[2]Newcastle Univ, Sch Engn, Newcastle Upon Tyne NE1 7RU, England

年份：2021

卷号：9

期号：12

外文期刊名：JOURNAL OF MARINE SCIENCE AND ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000739060100001)、、Scopus(收录号：2-s2.0-85121748157)、WOS

语种：英文

外文关键词：underwater navigation; artificial fiducial marker; visual localisation

外文摘要：Underwater navigation presents crucial issues because of the rapid attenuation of electronic magnetic waves. The conventional underwater navigation methods are achieved by acoustic equipment, such as the ultra-short-baseline localisation systems and Doppler velocity logs, etc. However, they suffer from low fresh rate, low bandwidth, environmental disturbance and high cost. In the paper, a novel underwater visual navigation is investigated based on the multiple ArUco markers. Unlike other underwater navigation approaches based on the artificial markers, the noise model of the pose estimation of a single marker and an optimal algorithm of the multiple markers are developed to increase the precision of the method. The experimental tests are conducted in the towing tank. The results show that the proposed method is able to localise the underwater vehicle accurately.