Optical Investigation of Archaeological Remains on Bottom of Lake Biwa by a Hovering-Type AUV “Hobalin”

This paper describes the investigation results of archaeological remains on the bottom of Lake Biwa, Japan. The positions of ancient potteries were observed optically by the hovering-type AUV “Hobalin”, and the positions of them were estimated by the combination of optical and acoustical methods with an accuracy of a few meters.