Real time texture and global characters based station keeping for underwater vehicle

Xiaomin Liu, Feng Zhu, Yingming Hao, Jing Zhou, Kazuhiko Sumi
2005 Optomechatronic Machine Vision  
A kind of station keeping servo method based on texture and global characters analyzing for under water vehicle is described in this paper. Most of other systems with the same function adopt some artificial targets or other obvious characters such as corner, line, or outline for servoing. In some cases, the target, especially nature objects, haven't many obvious characters for identification. Texture and some region characters can be considered as the inherent features. The nature texture
more » ... ature texture elements have their special relationships which will change according to the distance and the position changing between the camera and the texture elements. After some analyzing of texture, this paper gives an automatic texture region recognition and tracking algorism. A satisfying result of simulate controlling the four freedoms underwater vehicle with servoing is shown at the end of the paper.
doi:10.1117/12.648901 fatcat:553oauey7fal5fe2c43iwnmbdu