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Map-based localization and loop-closure detection from a moving underwater platform using flow features

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Abstract

In recent years, flow sensing has gotten the attention of the robotics community as an exteroceptive sensing modality, in addition to the conventional underwater sensing modalities of vision and sonar. Earlier works on flow sensing for robotics focus on detection and characterization of objects’ wakes, with the focus slowly evolving towards more complicated tasks such as localization of a stationary underwater platform using flow. In this paper we take this one step ahead, and present map-based localization and loop-closure detection from a continuously moving platform. Map-based localization is performed using flow features inside a particle filter framework, whereas loop-closure detection is based on indexation and comparison of flow features. Both techniques are validated by performing off-line experimentation on real flow data captured in complex flow inside a model fish pass. The results highlight the potential of using flow sensing (in addition to conventional underwater sensing modalities of vision and sonar) for the tasks of underwater robot perception and localization.

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Notes

  1. More on fish passes in Sect. 4.1.

  2. Microelectromechanical systems.

  3. KVS is a regular pattern of alternating vortices that are formed behind an object, when it is moved through still or flowing fluid.

  4. A video attachment for this experiment has also been supplied with the paper.

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Acknowledgements

This research was supported by Estonian Research Council grant IUT-339, and the BONUS FISHVIEW project which was supported by BONUS (Art 185), funded jointly by the EU,Keskkonnainvesteeringute Keskus (Estonia), Forschungszentrum Juellich Beteiligungsgesellschaft GmbH, and the German Federal Ministry for Education and Research (Germany), and the Academy of Finland.

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Authors and Affiliations

  1. Center for Biorobotics, Tallinn University of Technology, Tallinn, Estonia

    Naveed Muhammad, Juan Francisco Fuentes-Perez, Jeffrey A. Tuhtan, Gert Toming & Maarja Kruusmaa

  2. Institute of Water and River Basin Management, Karlsruhe Institute of Technology, Karlsruhe, Germany

    Mark Musall

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  1. Naveed Muhammad
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Correspondence to Naveed Muhammad.

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Muhammad, N., Fuentes-Perez, J.F., Tuhtan, J.A. et al. Map-based localization and loop-closure detection from a moving underwater platform using flow features. Auton Robot 43, 1419–1434 (2019). https://doi.org/10.1007/s10514-018-9797-3

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