Development of Robust Recogintion Algorithm of Retro-reflective Marker Based on Visual Odometry for Underwater Environment

  • Pillip Youn
  • Kwangyik JungEmail author
  • Hyun Myung
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 751)


In this paper, we propose the robust algorithm of retro-reflective marker recognition algorithm based on visual odometry. Retro-reflective is used in order to distinguish markers under the low visibility underwater environment. The existing marker recognition algorithm estimates 6-DOF pose only if camera captures the whole marker image. To overcome this weakness we proposed the robust recognition algorithm based on visual odometry in this paper. The recognition algorithm is tested in real sea experiment.


Autonomous underwater vehicles Robot vision Marker recognition Underwater vision 6-DOF pose estimation Visual odometry Retro-reflective material Unmanned underwater vehicle Robot vision system 



This research was supported by grant No. 10043928 from the Industrial Source Technology Development Programs of the MOTIE (Ministry Of Trade, Industry and Energy), Korea. The students are supported by the Korea Ministry of Land, Transport and Maritime Affairs (MLTM) as U-City Master and Doctor Course Grant Program.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Civil and Environmental EngineeringKAIST (Korea Advanced Institute of Science and Technology)DaejeonRepublic of Korea
  2. 2.Department of Civil and Environmental Engineering and Robotics ProgramKAIST (Korea Advanced Institute of Science and Technology)DaejeonRepublic of Korea

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