Carreras, M., Ridao, P., Garcia, R., i Nicosevici, T. (2003). Vision-based localization of an underwater robot in a structured environment . IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA '03, 1, 971-976. Recuperat 05 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1241718
This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system
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