A Sensor for Vision-based Navigation in Underwater Path Tracking with Color and Edge Segmentation

JORDAN, MARIO; TRABES, EMANUEL; BERGER, CARLOS; BUSTAMANTE, JORGE

Buenos Aires

Simposio; 15º Argentine Symposium on Technology; 2014

Sociedad Argentina de Informática (SADIO)

This paper aims the design and implementation of a visionbasedsensor for navigation of underwater vehicles with adaptive attributes.The objective pointed out is a sensor for tracking of underwaterlines. The sensor employs a basic structure with a pixel-wise ANDoperation of binarized frames of separated channels HSV and an edgesegmentedframe. The basic sensor performs well by good illuminatedscenes. By significant drops of luminance, the efficiency falls. So an adaptivesensor is proposed over the basic structure. It operates on the brightnesschannel carrying out a maximization of contains in the accumulatorbins of a Hough transformation. It has proven to enhanced the identificationof the tracked line increasing the success rate.