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| Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker |
| ZENG Wen-Jing, XU Yu-Ru, WAN Lei, ZHANG Tie-Dong |
| (State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China) |
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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 preprocessing 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.
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Received: 02 March 2011
Published: 28 February 2012
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