3D Position and Pose Estimation Method using Multibeam Imaging Sonar for Marine Animal Tracking AUV

Abstract

We propose a marine animal tracking method for an autonomous underwater vehicle that utilizes multibeam imaging sonar. To estimate the position and pose of the target, we employ a tilt control device and neural networks. Our approach is evaluated on a turtle replica in a tank, and we demonstrate the efficacy of our method using simulations by integrating a particle filter algorithm for improved tracking.