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- W4223934476 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 image using a sonar simulator for mid-range localization, and a robust visual tracking using a 3-D wireframe model is employed for high-precision localization near the target structures. The performance of the proposed technique was demonstrated through experimental validation using real data obtained from a test tank." @default.
- W4223934476 created "2022-04-19" @default.
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- W4223934476 date "2022-04-05" @default.
- W4223934476 modified "2023-09-27" @default.
- W4223934476 title "Underwater Localization using an Optic and Acoustic Stereo Imaging System for Autonomous Intervention Robots" @default.
- W4223934476 doi "https://doi.org/10.22541/au.164912021.19390526/v1" @default.
- W4223934476 hasPublicationYear "2022" @default.
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