ACMarker is an acoustic camera-based fiducial marker system designed for underwater environments. Optical camera-based fiducial marker systems have been widely used in computer vision and robotics applications such as augmented reality (AR), camera calibration, and robot navigation. However, in underwater environments, the performance of optical cameras is limited owing to water turbidity and illumination conditions. Acoustic cameras, which are forward-looking sonars, have been gradually applied in underwater situations. They can acquire high-resolution images even in turbid water with poor illumination. We propose methods to recognize a simply designed marker and to estimate the relative pose between the acoustic camera and the marker. The proposed system can be applied to various underwater tasks such as object tracking and localization of unmanned underwater vehicles. Simulation and real experiments were conducted to test the recognition of such markers and pose estimation based on the markers.

中文翻译：

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ACMarker：水下环境中基于声学相机的基准标记系统

ACMarker 是一种基于声学相机的基准标记系统，专为水下环境而设计。基于光学相机的基准标记系统已广泛用于计算机视觉和机器人应用，例如增强现实 (AR)、相机校准和机器人导航。然而，在水下环境中，由于水的浑浊度和光照条件，光学相机的性能受到限制。作为前视声纳的声学相机已逐渐应用于水下情况。即使在照明不佳的浑浊水中，它们也可以获取高分辨率图像。我们提出了识别简单设计的标记并估计声学相机和标记之间的相对姿态的方法。所提出的系统可应用于各种水下任务，例如无人水下航行器的目标跟踪和定位。进行了仿真和实际实验以测试此类标记的识别和基于标记的姿态估计。