JRM Vol.30 No.2 pp. 248-256
doi: 10.20965/jrm.2018.p0248


Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function

Shinsuke Yasukawa*,**, Jonghyun Ahn***, Yuya Nishida***, Takashi Sonoda***, Kazuo Ishii***, and Tamaki Ura***

*The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

**Recreation Lab, Inc.
1-6-1 Otemachi, Chiyoda-ku, Tokyo 100-0004, Japan

***Kyushu Institute of Technology
2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0196, Japan

October 4, 2017
February 2, 2018
April 20, 2018
sampling-AUV, underwater robotics, vision system, visual tracking

We developed a vision system for an autonomous underwater robot with a benthos sampling function, specifically sampling-autonomous underwater vehicle (AUV). The sampling-AUV includes the following five modes: preparation mode (PM), observation mode (OM), return mode (RM), tracking mode (TM), and sampling mode (SM). To accomplish the mission objective, the proposed vision system comprises software modules for image acquisition, image enhancement, object detection, image selection, and object tracking. The camera in the proposed system acquires images in intervals of five seconds during OM and RM, and in intervals of one second during TM. The system completes all processing stages in the time required for image acquisition by employing high-speed algorithms. We verified the effective operation of the proposed system in a pool.

Flow of sampling mission and image processing tasks for a sampling-AUV

Flow of sampling mission and image processing tasks for a sampling-AUV

Cite this article as:
S. Yasukawa, J. Ahn, Y. Nishida, T. Sonoda, K. Ishii, and T. Ura, “Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function,” J. Robot. Mechatron., Vol.30 No.2, pp. 248-256, 2018.
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