Laser odometry taking account of the tilt on the laser sensor

Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.