Method for correcting position information of an underwater robot capable of 3D scanning underwater

Loop Closure-Based Localization Correction Technology for 3D Underwater Scanning Robots

This technology corrects accumulated localization errors along a robot's path using loop closure. It works by having an underwater robot perform an initial 3D scan of an object at a starting position, traverse multiple locations, and then return to the starting position to perform a second scan of the same object.

In underwater environments, localization errors accumulate as the robot moves, which degrades the consistency of 3D scan data. Previously, it was difficult to ensure accurate localization without relying on expensive, high-precision sensors.

This technology proposes a method to correct both yaw sensor errors and path-based localization data by comparing the first and second scans of the same object. It is applicable to underwater tunnel inspections and marine structure surveys, providing an economical solution for obtaining precise 3D data without the need for expensive navigation equipment.

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Key Features:

• Performing an initial 3D scan of an object at a starting position to extract its 3D shape.
• Moving to n different locations and performing 3D scans of objects at each position.
• Returning to the starting position from the final location to perform a second 3D scan of the initial object.
• Correcting localization data by applying loop closure to the first and second scan information and the movement path.

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This invention was developed with support from the Smart Underwater Tunnel System Research Center, funded by the Ministry of Science and ICT.