Relative pose estimation of underwater robot by fusing inertial sensors and optical image

Accurate pose estimation and control system is essential to achieve an underwater robot system for underwater explorations and task executions. This paper presents a method of pose estimation for underwater robots based on multi sensor fusion. The proposed method fuses inertial sensors and optical image. The inertial sensors are used to provide a basic estimation of the pose data. In addition, the optical image is used to correct acquired pose estimate of the inertial sensors. By using both inertial sensors and optical image, the proposed method can provide a reliable pose estimate for underwater robots. Experimental results verify the performance of the proposed method in a basin.