Development of an image processing module for autonomous underwater vehicles through integration of object recognition with stereoscopic image reconstruction

Yu Hsien Lin, Shao Yu Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This study investigated the development of visual recognition and stereoscopic imaging technology, applying them to the construction of an image processing system for Autonomous Underwater Vehicles (AUVs). For the proposed visual recognition technology, an optical flow algorithm was used to detect the linear features and movement speeds of dynamic images; the proposed stereoscopic imaging technique employed a Harris corner detector to estimate the distance of the target. A physical AUV was constructed with a wide-angle lens camera and a binocular vision device mounted on the bow to provide image input. Subsequently, a simulation environment was established in Simscape Multibody and used to control the post-driver system of the stern, which contained horizontal and vertical rudder planes as well as the propeller. Finally, the dynamic testing results were combined with a fuzzy controller to output the real-time responses of the vehicle regarding the angles, rates of the rudder planes, and the propeller revolution speeds at various distances.

Original languageEnglish
Title of host publicationOcean Engineering
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791858851
DOIs
Publication statusPublished - 2019 Jan 1
EventASME 2019 38th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2019 - Glasgow, United Kingdom
Duration: 2019 Jun 92019 Jun 14

Publication series

NameProceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
Volume7B-2019

Conference

ConferenceASME 2019 38th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2019
CountryUnited Kingdom
CityGlasgow
Period19-06-0919-06-14

All Science Journal Classification (ASJC) codes

  • Ocean Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering

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  • Cite this

    Lin, Y. H., & Chen, S. Y. (2019). Development of an image processing module for autonomous underwater vehicles through integration of object recognition with stereoscopic image reconstruction. In Ocean Engineering [95321] (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; Vol. 7B-2019). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/OMAE2019-95321