Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers
Juan Chen Caiming Sun Aidong Zhang Juan Chen Caiming Sun Aidong Zhang
This paper presents an integrated methodology and experimental validation of an autonomous framework for unmanned underwater vehicles (UUVs) merely equipped with a conventional monocular camera and a pressure sensor to accomplish high-performance autonomy. Optimal pose of the UUV is solved iteratively by Levenburg-Marquardt optimization for the Perspective-n-Point (PnP) problem. To guarantee a con...