10/05/2021
https://www.youtube.com/watch?v=HsMrJblZCyY
This video is based on the work presented in the following paper:
Remmas, W., Chemori, A., & Kruusmaa, M. (2021). Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusion. Journal of Field Robotics, 38(3), 494-508.
The aim of this study was to design and develop a low‐cost data‐fusion‐based diver tracking control scheme and to implement it on a highly manoeuvrable underwater robot U‐CAT. A data‐fusion based technique combining acoustic and visual signals was proposed. The proposed control strategy was validated through open water field experiments. Promising results were obtained, demonstrating the effectiveness and performance of the proposed data‐fusion‐based control algorithm. The proposed solution demonstrates also that the target can be found, detected, and tracked, even if it is initially far away from a robot operating in poor visibility conditions.
Combining acoustic and visual signals for underwater detection and tracking shows a robust performance in harsh field conditions, and the ability to recover the diver's location when visual detection fails.
This work was supported by the Estonian Research Council Grant IUT‐339.
This video is based on the work presented in the following paper:Remmas, W., Chemori, A., & Kruusmaa, M. (2021). Diver tracking in open waters: A low‐cost ap...
