Development of robust recogintion algorithm of retro-reflective marker based on visual odometry for underwater environment

Abstract

In this paper, we propose the robust algorithm of retro-reflective marker recognition algorithm based on visual odometry. Retro-reflective is used in order to distinguish markers under the low visibility underwater environment. The existing marker recognition algorithm estimates 6-DOF pose only if camera captures the whole marker image. To overcome this weakness we proposed the robust recognition algorithm based on visual odometry in this paper. The recognition algorithm is tested in real sea experiment.