Vision Based Object Following for Underwater Vehicles
B.A.A.P. Balasuriya, Tamaki Ura · Journal of the Society of Naval Architects of Japan · 1996
This paper addresses the use of a vision sensor in the Underwater Vehicle (UV) feedback control loop discussing the nature of underwater images captured by CCD cameras. A prefilter to reduce unwanted features unique to underwater environments and two active vision algorithms are proposed for autonomous underwater object following. The two algorithms focus on typical underwater applications such as underwater cable tracking and underwater object following. The experimental results demonstrate that these algorithms can be implemented in real time with the use of small hardware systems.