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Accurate pose estimation and control system is essential to achieve an underwater robot system for underwater explorations and task executions. This paper presents a method of pose estimation for underwater robots based on multi sensor fusion. The proposed method fuses inertial sensors and optical image. The inertial sensors are used to provide a basic estimation of the pose data. In addition, the...
This paper proposes an unobtrusive and flexible artificial landmark for the underwater robot homing problem. We designed modified Self-Similar Landmark (SSL) which reveals two different kinds of features: 1) a self-similar feature at long distances and 2) corner features at short distances from the target. That is, the self similarity of the landmark attracts a robot until it approaches close to the...
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