Localization of a Walking Robot Using a Laser Speckle Odometry

Abstract

In this study, we propose a laser odometry tolocalize an underwater walking robot. In the laser odometryusing optical sensors, motion is estimated by tracking laserspeckle patterns. However, measurement error increases whenthe sensor is tilted. We describe the overview of our walkingrobot with the sensor, the principle of laser odometry, and theexperimental results