Recovering the 3D UUV Position using UAV Imagery in Shallow-Water Environments
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866910290102190080 |
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| author | Đuraš, Antun Sukno, Matija Palunko, Ivana |
| author_facet | Đuraš, Antun Sukno, Matija Palunko, Ivana |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_03938 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Recovering the 3D UUV Position using UAV Imagery in Shallow-Water Environments Đuraš, Antun Sukno, Matija Palunko, Ivana Robotics 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. |
| title | Recovering the 3D UUV Position using UAV Imagery in Shallow-Water Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2401.03938 |