Tracking and observing underwater structures at close range are important for gathering high-resolution information. This article proposes a method to track omnidirectional surfaces using an autonomous underwater vehicle (AUV). This method is suitable for surveying various kinds of underwater structures, such as rugged seafloors, ship hulls, pools, dams, and quay walls. It is based on stochastic means, and has two important features. First, it depends on only commercial off-the-shelf sensors (mechanical scanning imaging sonar, a water current sensor, and an attitude sensor). Second, it is applicable to fast moving vehicles. This method is implemented in the AUV highly agile terrain tracker for ocean research and investigation, and verification tests in the sea and in a tank are carried out to evaluate its performance. In the sea, the AUV succeeded in tracking the rugged seafloor at high speed. In the tank, the AUV succeeded in tracking vertical walls while keeping its roll angle at 90$^\circ$.

中文翻译：

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使用低成本自主水下航行器跟踪全方位表面

近距离跟踪和观察水下结构对于收集高分辨率信息很重要。本文提出了一种使用自主水下航行器 (AUV) 跟踪全向表面的方法。这种方法适用于测量各种水下结构，如崎岖的海底、船体、水池、水坝和码头墙。它基于随机均值，具有两个重要特征。首先，它仅依赖于商用现货传感器（机械扫描成像声纳、水流传感器和姿态传感器）。其次，它适用于快速移动的车辆。该方法在用于海洋研究和调查的AUV高敏捷地形跟踪器中实施，并在海上和坦克中进行验证测试以评估其性能。在海里，AUV 成功地高速追踪崎岖的海底。在坦克中，AUV 成功跟踪垂直墙壁，同时将其滚动角保持在 90$^\circ$。