Marker based camera pose estimation for underwater robots

Today, simple and accurate pose estimation is needed for small underwater robots to support and to replace submergence operation divers. Position and orientation estimation using luminous markers and the computer tracking library ARToolKit is one of the solutions for estimation, since it is fast enough for real time processing and is open sourced. Although, since it was made for augmented reality, its use for underwater is limited. In this paper, finding the limit and drawbacks of ARToolKit for underwater usage will be studied. The assessment was done under different levels of turbidities of water and different angles of the marker. The results can be applied to the usage of using ARToolKit underwater with luminous markers.