Multiple sensors based navigation scheme for AUV position estimation

Abstract

An autonomous underwater vehicle (AUV) position estimation scheme is proposed using Forward Looking Sonar (FLS) and Charged Coupled Device (CCD) camera for near bottom applications. Scans obtained from the onboard FLS are processed using a feature extraction technique discussed in the paper to extract stable point features in the environment. A motion estimation scheme based on homography estimates using the camera is also presented through test trials conducted using the NTU-UAV, test-bed AUV, in a test tank environment. The paper discusses the above-mentioned individual sensor capabilities and drawbacks in estimating the position of an AUV.