Underwater Robot Localization by Probability-based Object Recognition Framework Using Sonar Image

소나 영상을 이용한 확률적 물체 인식 구조 기반 수중로봇의 위치추정

  • Received : 2014.09.12
  • Accepted : 2014.10.23
  • Published : 2014.11.28


This paper proposes an underwater localization algorithm using probabilistic object recognition. It is organized as follows; 1) recognizing artificial objects using imaging sonar, and 2) localizing the recognized objects and the vehicle using EKF(Extended Kalman Filter) based SLAM. For this purpose, we develop artificial landmarks to be recognized even under the unstable sonar images induced by noise. Moreover, a probabilistic recognition framework is proposed. In this way, the distance and bearing of the recognized artificial landmarks are acquired to perform the localization of the underwater vehicle. Using the recognized objects, EKF-based SLAM is carried out and results in a path of the underwater vehicle and the location of landmarks. The proposed localization algorithm is verified by experiments in a basin.


Underwater recognition framework;Artificial landmark;Probability;EKF-SLAM;Imaging sonar


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