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
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.
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