Dual-eyes visual-based sea docking for sea bottom battery recharging

Myo Myint, Kenta Yonemori, Akira Yanou, Khin Nwe Lwin, Naoki Mukada, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)


In this paper, a robust stereo vision-based sea docking for autonomous underwater vehicles (AUVs) for sea bottom battery recharging is presented. Docking station is unidirectional one which requires high homing accuracy and robustness against difference disturbances. Real-time pose tracking was developed using stereo vision from two cameras and known 3D marker. Real time relative pose estimation was implemented as software implementation utilizing 3D model-based matching method and real-time multi-step GA. Remotely Operated Vehicle (ROV) with maximum depth 50 m is used as a test bed. Successful docking operation using proposed system demonstrated for underwater battery recharging was conducted in the sea, near Wakayama City, Japan. Experimental results confirmed the robustness of the system proving homing accuracy on the order of centimeter under real-world conditions.

Original languageEnglish
Title of host publicationOCEANS 2016 MTS/IEEE Monterey, OCE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509015375
Publication statusPublished - Nov 28 2016
Event2016 OCEANS MTS/IEEE Monterey, OCE 2016 - Monterey, United States
Duration: Sep 19 2016Sep 23 2016


Other2016 OCEANS MTS/IEEE Monterey, OCE 2016
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Instrumentation
  • Oceanography
  • Ocean Engineering


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