In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate and cost-effective alternative when compared to acoustic sensing methods, typically required to obtain ground truth information in underwater localization problems. Furthermore, our approach allows for a seamless conversion to geo-referenced coordinates which can be utilized for navigation purposes. To validate our method, we present the results with data collected through a simulation environment and field experiments, demonstrating the ability to successfully recover the UUV position with sub-meter accuracy.

翻译：本文提出了一种新颖方法，旨在通过浅水环境中的无人机图像恢复水下无人航行器(UUV)的三维位置。通过结合无人机与UUV的测量数据，我们证明了该方法相较于通常用于水下定位问题中获取真实信息的声学传感手段，可作为一种精确且经济高效的替代方案。此外，我们的方法支持无缝转换为地理参考坐标，可用于导航目的。为验证该方法，我们展示了通过仿真环境及现场实验收集的数据结果，证明其具备以亚米级精度成功恢复UUV位置的能力。