An Adaptive Vision-Based Sensor for Navigation in Underwater Path Tracking

MARIO A. JORDÁN; EMANUEL TRABES; CARLOS E. BERGER; JORGE L. BUSTAMANTE

Marina Bay Sand

Conferencia; 13th International Conference on Control, Automation, Robotics and Vision, ICARCV 2014; 2013

TRABAJO EN REVISION PARA SER PRESENTADO EN ICARCV 2014 -------------------------------------------------------------------------------------------------------------------------- This paper aims the design and implementation of a vision-based sensor for navigation of underwater vehicles with adaptive attributes. The objective pointed out is a sensor for tracking of underwater lines. The sensor employs a basic structure with a pixel-wise AND operation of binarized frames of separated channels HSV and an edge-segmented frame. The basic sensor performs well by good illuminated scenes. By significant drops of luminance, the effciency falls. So an adaptive sensor is proposed over the basic structure. It operates on the brightness channel carrying out a maximization of contains in the accumulator bins of a Hough transformation. It has proven to enhanced the identification of the tracked line increasing the success rate.