In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate and cost-effective alternative when compared to acoustic sensing methods, typically required to obtain ground truth information in underwater localization problems. Furthermore, our approach allows for a seamless conversion to geo-referenced coordinates which can be utilized for navigation purposes. To validate our method, we present the results with data collected through a simulation environment and field experiments, demonstrating the ability to successfully recover the UUV position with sub-meter accuracy.


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    Title :

    Recovering the 3D UUV Position using UAV Imagery in Shallow-Water Environments


    Contributors:


    Publication date :

    2022-06-21


    Size :

    2550802 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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