Research on AUV real-time location algorithm with monocular vision

In unknown environments, when AUV motions are unknown, the AUV and landmarks can not be completely located with monocular vision due to scale drift. For this situation, the AUV location method with the fusion of sonar distance-measuring information was studied, and the models of AUV motion, landmark initialization and camera measurement were built, then the EKF filter was used to estimate the AUV position. In order to improve the real-time performance of the localization algorithm, the feather matching and error matching removing algorithm based on forecast was proposed. The experimental results show that the location algorithm realizes the AUV 3D localization accurately.