Abstract: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 ima… Show more
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