Đuraš, Antun (University of Dubrovnik), Sukno, Matija (University of Dubrovnik), Palunko, Ivana (University of Dubrovnik)

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

Scheduled for presentation during the Regular Session "UAS Applications II" (ThB5), Thursday, June 23, 2022, 16:30−16:50, Elafiti

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

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.