Accuracy verification of the image-based an underwater object position measurement

We have been developing the underwater robot which can be used for environmental protection and research work in the coastal sea area of Okinawa prefecture. It is difficult to get the global position of the underwater robot, because GPS does not work in water. Visual recognition of distant underwater objects is possible in the water high transparency, for example, in the coastal sea area of Okinawa, Japan. So we have been developing the inexpensive global position measurement system of an underwater robot using a monocular camera. In this paper, we explain the proposed measurement method. Moreover, we illustrate the pool experimental results and verify the position accuracy of the proposed underwater object measurement method.