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An Underwater Visual Navigation Method Based on Multiple ArUco Markers

Lookup NU author(s): Dr Maryam HaroutunianORCiD, Dr Alan J Murphy, Professor Jeffrey Neasham, Dr Rosemary NormanORCiD



This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0).


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

Publication metadata

Author(s): Xu Z, Haroutunian M, Murphy AJ, Neasham J, Norman R

Publication type: Article

Publication status: Published

Journal: Journal of Marine Science and Engineering (JMSE)

Year: 2021

Volume: 9

Issue: 12

Online publication date: 15/12/2021

Acceptance date: 11/12/2021

Date deposited: 15/12/2021

ISSN (electronic): 2077-1312

Publisher: MDPI


DOI: 10.3390/jmse9121432


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