An Underwater Self-Positioning System with a Smartphone Based on Visual-Inertial Odometry and Trajectory Matching
The introduction of net cleaning robots is required in aquaculture. For an efficient operation of net cleaning robots, a high-precision underwater self-positioning system is required. In this research, we have proposed and verified a method by VIO and trajectory matching using a smartphone for the purpose of implementing a small underwater self-positioning system to be implemented in a net cleaning robot. The verification results shows that the system is possible to achieve highly accurate self-position estimation by correcting the estimated position by trajectory matching.
Authors
- Kazuo Ishii (ORCID: https://orcid.org/0009-0009-8506-8015)
- Yuya Nishida (ORCID: https://orcid.org/0009-0006-3565-4006)
- Daigo Katayama
- Tomoya Fukukawa
- Shinsuke Yasukawa (ORCID: https://orcid.org/0000-0002-1544-2966)
- Naohiro Hara
Institutions
- Kyushu Institute of Technology (JP)
- Yanmar (Japan) (JP)
Publication Details
- Published
- 2025-03-02
- DOI
- https://doi.org/10.1109/ut61067.2025.10947434
- Primary Topic
- Underwater Vehicles and Communication Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00