Online High-Precision Probabilistic Localization of Robotic Fish Using Visual and Inertial Cues

@article{Wang2015OnlineHP,
  title={Online High-Precision Probabilistic Localization of Robotic Fish Using Visual and Inertial Cues},
  author={Wei Wang and Guangming Xie},
  journal={IEEE Transactions on Industrial Electronics},
  year={2015},
  volume={62},
  pages={1113-1124}
}
This paper focuses on the development of an online high-precision probabilistic localization approach for the miniature underwater robots equipped with limited computational capacities and low-cost sensing devices. The localization system takes Monte Carlo localization (MCL) as the main framework and utilizes the onboard camera and low-cost inertial measurement unit (IMU) for information acquisition to provide a decimeter-level precision with 5-Hz refreshing rate in a small space with several… CONTINUE READING
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