PierHarbor-HoveringCamera

This scenario starts with a HoveringAUV near one of the larger docks. This is identical to the base version, only with cameras mounted. Unless otherwise specified, all sensors are named the same as their class name, ie IMUSensor is named “IMUSensor”.

• auv0: Main HoveringAUV agent

  • IMUSensor configured with noise, bias, and returns bias.

  • GPSSensor gets measurements with N(1, 0.25) of the surface, actual measurement also has noise.

  • DVLSensor configured with an elevation of 22.5 degrees, noise, and returns 4 range measurements.

  • RGBCamera named LeftCamera.

  • RGBCamera named RightCamera.

  • DepthSensor configured with noise.

  • PoseSensor for ground truth.

  • VelocitySensor for ground truth.