Visibility improvement in relation to turbidity and distance, and application to docking

Horng Yi Hsu; Yuichiro Toda; Keigo Watanabe; Mamoru Minami

doi:10.1007/s10015-020-00606-6

Visibility improvement in relation to turbidity and distance, and application to docking

Horng Yi Hsu, Yuichiro Toda, Keigo Watanabe, Mamoru Minami

Research output: Contribution to journal › Article › peer-review

Abstract

Recently, autonomous underwater vehicles (AUVs) are being used in many applications. There is a limitation for underwater vehicle’s operation that takes a longer duration than the power capacity of underwater vehicles. Since underwater battery recharging station is supposed to be installed in the deep-sea bottom, the deep-sea docking experiments cannot avoid turbidity and dark environment. In this study, we propose a newly designed active 3D marker to improve the visibility of the 3D marker. A docking experiment apparatus was built. Two kinds of the 3D marker were used in the experiment, which were the active (light) and passive (non-light) 3D markers. The experimental results show the active 3D marker can be more recognizable in turbidity and dark environment than the passive 3D marker.

Original language	English
Pages (from-to)	453-465
Number of pages	13
Journal	Artificial Life and Robotics
Volume	25
Issue number	3
DOIs	https://doi.org/10.1007/s10015-020-00606-6
Publication status	Published - Aug 1 2020

Keywords

3D marker
Stereo-vision
Turbidity
Visual servoing

ASJC Scopus subject areas

Biochemistry, Genetics and Molecular Biology(all)
Artificial Intelligence

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