FEASIBILITY OF USING ACTIVE FIDUCIAL MARKERS FOR UUV NAVIGATION AND LOCALIZATION
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Authors
McClain, Richard T.
Subjects
fiducial markers
UUV
ROV
navigation
localization
AprilTag
UUV
ROV
navigation
localization
AprilTag
Advisors
Bingham, Brian S.
Date of Issue
2019-12
Date
Dec-19
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Fiducial markers are widely used for ground and air robot localization and navigation. The markers provide a tertiary reference for the robot when Global Positioning System (GPS) and inertial navigation are unreliable. These markers require a camera, software, and low-cost customizable tags to implement on a system. As these markers and the process for using them for ground and air systems has been explored extensively, very little research has been done on implementing these for underwater applications. This thesis investigates the feasibility of actively backlighting the markers and using a non-lighted imaging system. Using the BlueROV2—a commercial remotely operated vehicle (ROV), the Robot Operating System (ROS), AprilTag fiducial markers, and the open-source AprilTag2 detection software, experiments were conducted in air and underwater with ambient lighting and without ambient lighting. For the low-light tests, the markers were backlit by submersible LED lights. After conducting several tests in clear fresh water, the markers were able to be consistently identified out to 4 meters. The proposed marker design was then tested in the San Diego Bay as a proof of concept and demonstrated that the actively lit marker was detectable in open water with low ambient lighting. The experiments provided conclusive evidence that this method of using active fiducial markers underwater is not only feasible but can be easily implemented and has great potential with future research.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.