Underwater Matching Correction Navigation Based on Geometric Features Using Sonar Point Cloud Data

Table 1

Results of the experiment.

Experiments	Water tank		Pose of ROV
	Length (m)	Width (m)	(m)	(m)	(°)
1st
Test results	6.383	3.0963	1.7818	2.2843	83.293
Ground truth	6.0	3.0	1.80	2.30	84.52
Error	0.383	0.0963	−0.0182	−0.0157	−1.227
2nd
Test result	6.0238	3.0528	1.9624	1.6965	43.38
Ground truth	6.0	3.0	2.0	1.70	44.56
Error	0.0238	0.0528	−0.0376	−0.0035	−0.18