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A Fast Binocular Localisation Method for AUV Docking.

Lijia Zhong1, Dejun Li2, Mingwei Lin3

  • 1State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China. zhonglijia@zju.edu.cn.

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|April 14, 2019
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Summary
This summary is machine-generated.

This study introduces a binocular vision system for autonomous underwater vehicle (AUV) docking. The method precisely locates AUVs using adaptive feature extraction and fast matching, achieving high accuracy for reliable docking operations.

Keywords:
autonomous underwater vehiclesbinocular visiondocking guidance technology

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Area of Science:

  • Robotics
  • Computer Vision
  • Underwater Navigation

Background:

  • Long-term autonomous underwater vehicle (AUV) operation relies heavily on effective docking technology.
  • Accurate localization is crucial for successful and safe AUV docking maneuvers.

Purpose of the Study:

  • To present a novel binocular localization method for AUV docking.
  • To enhance the precision and efficiency of AUV docking systems.

Main Methods:

  • Developed an adaptively weighted OTSU method for precise feature extraction of docking lamps.
  • Utilized the mass center of lamps as matching features for binocular vision, achieving over 10 Hz operation frequency.
  • Implemented a relative pose estimation method for scenarios with limited lamp visibility.

Main Results:

  • The proposed method achieved an average localization error of approximately 5 cm.
  • Average relative location error was around 2% within a 3.6 m range.
  • Demonstrated successful guidance of a ship model to a docking station with varying lateral deviations.

Conclusions:

  • The binocular localization method offers precise and efficient AUV docking capabilities.
  • The algorithm is robust and feasible for real-world underwater docking applications.
  • This technology supports the long-term operational goals of autonomous underwater vehicles.