An Underwater Visual Navigation Method Based on Multiple ArUco Markers

Underwater navigation presents crucial issues because of the rapid attenuation electronic magnetic waves. The conventional underwater methods are achieved by acoustic equipment, such as ultra-short-baseline localisation systems and Doppler velocity logs, etc. However, they suffer from low fresh rate, bandwidth, environmental disturbance high cost. In paper, a novel visual is investigated based on multiple ArUco markers. Unlike other approaches artificial markers, noise model pose estimation single marker an optimal algorithm markers developed to increase precision method. experimental tests conducted in towing tank. results show that proposed method able localise vehicle accurately.