Papers
Topics
Authors
Recent
Assistant
AI Research Assistant
Well-researched responses based on relevant abstracts and paper content.
Custom Instructions Pro
Preferences or requirements that you'd like Emergent Mind to consider when generating responses.
Gemini 2.5 Flash
Gemini 2.5 Flash 78 tok/s
Gemini 2.5 Pro 60 tok/s Pro
GPT-5 Medium 28 tok/s Pro
GPT-5 High 33 tok/s Pro
GPT-4o 101 tok/s Pro
Kimi K2 168 tok/s Pro
GPT OSS 120B 452 tok/s Pro
Claude Sonnet 4.5 36 tok/s Pro
2000 character limit reached

Underwater Robot Pose Estimation Using Acoustic Methods and Intermittent Position Measurements at the Surface (2312.11401v1)

Published 18 Dec 2023 in cs.RO, cs.SY, and eess.SY

Abstract: Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater robots becomes more difficult. In this paper we first evaluate the performance of existing pose estimation techniques for an underwater robot equipped with commonly used sensors for underwater control and pose estimation, in a simulated environment. In our case these sensors are inertial measurement units, Doppler velocity log sensors, and ultra-short baseline sensors. Secondly, for situations in which underwater estimation suffers from drift, we investigate the benefit of intermittently correcting the position using a high-precision surface-based sensor, such as regular GPS or an assisting unmanned aerial vehicle that tracks the underwater robot from above using a camera.

Summary

We haven't generated a summary for this paper yet.

Lightbulb Streamline Icon: https://streamlinehq.com

Continue Learning

We haven't generated follow-up questions for this paper yet.

List To Do Tasks Checklist Streamline Icon: https://streamlinehq.com

Collections

Sign up for free to add this paper to one or more collections.

Don't miss out on important new AI/ML research

See which papers are being discussed right now on X, Reddit, and more:

“Emergent Mind helps me see which AI papers have caught fire online.”

Philip

Philip

Creator, AI Explained on YouTube