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 journalArticle

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 languageEnglish
JournalArtificial Life and Robotics
DOIs
Publication statusAccepted/In press - Jan 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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