8 January 2024
Combines UAV and UUV sensor data for 3D localization
Provides a low-cost alternative to acoustic positioning
Converts positions to geo-referenced GPS coordinates
Validated in simulation and field experiments
Achieves sub-meter accuracy for UUV position recovery
Recovering Underwater Vehicle Position from Drone Images
This paper proposes a novel method to accurately and cost-effectively recover the 3D position of an unmanned underwater vehicle (UUV) using aerial drone (UAV) imagery in shallow water. By combining UAV altitude data and UUV depth sensor readings, the approach converts 2D UUV image coordinates tracked in UAV video into 3D coordinates and GPS positions. Simulation and field experiments validate recovering UUV position to sub-meter accuracy without expensive acoustic positioning systems, enabling geo-referenced data collection.
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