Localization Method for Underwater Robot Swarms Based on Enhanced Visual Markers

In challenging tasks such as large-scale resource detection, deep-sea exploration, prolonged cruising, extensive topographical mapping, and operations within intricate current regions, AUV swarm technologies play a pivotal role. A core technical challenge within this realm is the precise determination of relative positions among AUVs within the cluster. Given the complexity of underwater environments, this study introduces an integrated and high-precision underwater cluster positioning method, incorporating advanced image restoration algorithms and enhanced underwater visual markers. Utilizing the Hydro-Optical Image Restoration Model (HOIRM) developed in this research, image clarity in underwater settings is significantly improved, thereby expanding the attenuation coefficient range for marker identification and enhancing it by at least 20%. Compared to other markers, the novel underwater visual marker designed in this research elevates positioning accuracy by 1.5 times under optimal water conditions and twice as much under adverse conditions. By synthesizing the aforementioned techniques, this study has successfully developed a comprehensive underwater visual positioning algorithm, amalgamating image restoration, feature detection, geometric code value analysis, and pose resolution. The efficacy of the method has been validated through real-world underwater swarm experiments, providing crucial navigational and operational assurance for AUV clusters.