Abstract
Authors have been developing the underwater robot that can be used for environmental protection work in the sea near Okinawa. Global Position of work is important for research. But it is difficult to get the position of underwater robot, because it cannot use GPS(Global Positioning System) in the sea. Okinawa near sea has a high degree of transparency. So we proposed the inexpensive position measurement system with monocular camera to measure position of underwater mobile object. Underwater mobile object has LED marker and monocular camera of water floating body shoot LED marked. Image is applied the particle filter of image processing and it is detected LED marker. Then, global position of underwater mobile object is calculated under geometric condition. In this paper, we describe the position measurement method and the basic experimental results in pool.
