Verification of the Self-Position Estimation of Underwater Robot Using Seabed Image

Abstract

Generally, GPS used for position measurement has a large attenuation of radio waves in the sea, and it is difficult to obtain position information in water. In this research, we use the seafloor image of the onboard camera to estimate the position of the underwater robot. The amount of movement of the underwater robot is measured by matching the seafloor feature points from the seafloor image. After that, we verify self-localization of an underwater robot by combining the acceleration, angular velocity, and geomagnetic data obtained from the 9-axis sensor.