Naslov
Recovering the 3D UUV Position Using UAV Imagery in Shallow-Water Environments

Autori
Đuraš, Antun ; Sukno, Matija ; Palunko, Ivana

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 2022 International Conference on Unmanned Aircraft Systems (ICUAS) / - , 2022, 948-954

Skup
International Conference on Unmanned Aircraft Systems (ICUAS)

Mjesto i datum
Dubrovnik, Hrvatska, 21.06.2022. - 24.06.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
location awareness ; three-dimensional displays ; atmospheric modeling ; acoustic measurements ; aircraft navigation ; data models ; acoustics

Sažetak
In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate and cost-effective alternative when compared to acoustic sensing methods, typically required to obtain ground truth information in underwater localization problems. Furthermore, our approach allows for a seamless conversion to geo- referenced coordinates which can be utilized for navigation purposes. To validate our method, we present the results with data collected through a simulation environment and field experiments, demonstrating the ability to successfully recover the UUV position with sub-meter accuracy.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA