Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker

Abstract

Abstract: The detection and tracking of underwater pipeline based on monocular vision system of AUV(autonomous underwater vehicle) were addressed. An integrated vision system including software and hardware structure was designed. The feature of underwater pipeline image was analyzed and according to that, corresponding preprocessing method was proposed. An improved Hough transforming was advanced to obtain pipeline contour. Pipeline reference zone was estimated to increase the accuracy and decrease the time cost of pipeline tracking. Finally, the system was validated to be effective and feasible through the tank experiments.

Key words: autonomous underwater vehicle (AUV), pipeline detection, Hough transforming, reference zone

CLC Number:

TP 242

ZENG Wen-Jing, XU Yu-Ru, WAN Lei, ZHANG Tie-Dong. Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker[J]. Journal of Shanghai Jiaotong University, 2012, 46(02): 178-183.

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Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker

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