IEEE Robotics & Automation Magazine - September 2015 - 84

error that allowed us to quantify influences of different
uncertainties.
The results obtained using the surface vehicle tracking a
VD have shown that the mean tracking error is around 0.5 m.
When an ROV was used instead of the VD, uncertainties
caused by the acoustic sensor were introduced, and the mean
tracking error increased to around 1 m. In the final step,
human diver and experimental uncertainties related to human
factors (such as bubble emission) were introduced, significantly increasing the mean
tracking error to 1.8 m.
The obtained data was
Two extended Kalman
validated against the
ground-truth data profilters are implemented
vided by the video stream
from which the distance
in the system, as shown
of the ROV and the diver
from the surface vehicle
in Figure 8.
was determined. The obtained results confirmed
the tracking quality attained from the experiments using the
acoustic positioning device, and proved the accuracy of the
diver-tracking system.
There is a large number of parameters in the control,
tracking, and estimation system that can be tuned, and a large
number of control, tracking, and estimation methods that can
be implemented. All the obtained data and code are made
available online for public use. The results provided in this article are set as a benchmarking performance and it is left to
the whole interested community to compare, analyze, and improve the performance of the diver-tracking system by using
different algorithms, sensors, and vehicles.
Acknowledgment
The authors would like to thank the Croatian Navy for securing the trial area and providing logistic support, and
Nikola Stilinović, Milan Marković, Filip Mandić, and
Antonio Vasilijević for their assistance during the execution
of the experiments.
This work was supported by the European Commission
under the Seventh Framework Program project "CADDY-
Cognitive Autonomous Diving Buddy" under Grant Agreement 611373 and by the Business Innovation Agency of the
Republic of Croatia through the Proof of Concept Program.
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Nikola Mišković, University of Zagreb, Faculty of Electrical
Engineering, Zagreb, Croatia. E-mail: nikola.miskovic@fer.hr.
Đula Nađ, University of Zagreb, Faculty of Electrical
Engineering, Zagreb, Croatia. E-mail: dula.nad@fer.hr.
Ivor Rendulić, University of Zagreb, Faculty of Electrical
Engineering, Zagreb, Croatia. E-mail: ivor.rendulic@fer.hr.
http://http:// http://www.scopus.com/inward/record.url?eid=2-s2.0-84900508038&partnerID=40 http://www.scopus.com/inward/re http://www.scopus.com/inward/re
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