Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking

doi:10.1109/TIM.2023.3336442

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统认知与决策实验室

	Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking
	Zhao, Chunyang 1; Dong, Huijie 1; Wang, Jian 5; Qiao, Tiezhu 1; Yu, Junzhi 3,4; Ren, Jieyu 2
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2024
卷号	73 页码:11
关键词	Autonomous docking dual-type marker fusion underwater robot visual localization
ISSN号	0018-9456
DOI	10.1109/TIM.2023.3336442
通讯作者	Dong, Huijie(donghuijie@tyut.edu.cn)
英文摘要	Underwater localization is necessary for autonomous operation of underwater robots. Limited field of view for onboard vision systems can result in poor reliability of visual localization for underwater robots during autonomous docking. This article proposes a dual-type marker fusion-based visual localization method for underwater autonomous docking. First, a visual localization scheme integrating light sources and ArUco markers is designed according to positioning requirements based on varying fields of view for onboard vision in autonomous docking operations. The arrangements of the light sources and ArUco markers are both analyzed and optimized to ensure the reliability and efficiency of visual localization. Then, an underwater visual localization algorithm with dual marker fusion is proposed for high-accuracy localization with a restricted field of view. Extended underwater experiments are conducted to verify the feasibility and stability of the proposed method across various distances. The obtained results provide valuable references for the design and optimization of visual navigation systems for underwater robots.
资助项目	National Natural Science Foundation of China[62203318] ; National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62203436] ; Ministry of Education for Equipment Pre-Research[8091B022134]
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001132683400156
资助机构	National Natural Science Foundation of China ; Ministry of Education for Equipment Pre-Research
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55416]
专题	复杂系统认知与决策实验室
通讯作者	Dong, Huijie
作者单位	1.Taiyuan Univ Technol, Key Lab Adv Transducers & Intelligent Control Sys, Minist Educ, Taiyuan 030024, Peoples R China 2.Taiyuan Univ Technol, Engn Training Ctr, Taiyuan 030024, Peoples R China 3.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China 4.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 5.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Chunyang,Dong, Huijie,Wang, Jian,et al. Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2024,73:11.
APA	Zhao, Chunyang,Dong, Huijie,Wang, Jian,Qiao, Tiezhu,Yu, Junzhi,&Ren, Jieyu.(2024).Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,73,11.
MLA	Zhao, Chunyang,et al."Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73(2024):11.