Development of optical fiber-based active markers and its recognition algorithm for localization of a underwater structure inspection robot

Abstract

In this paper, we develop a robust LED-based optical fiber active markers and its recognition algorithm for underwater robot localization. The active marker is considered to be more recognizable at a distance compared to the passive marker and less affected by the AUV’s location to detect the marker. The active marker’s usage for underwater robot and its recognition algorithm are tested in the real sea environment.