Real-Time Pattern Recognition for Guidance of an Autonomous Undersea Submersible
NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA
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This paper reports the initial results of an effort to develop simple and fast vision algorithms on compact and imbeddable hardware for the guidance and control of an autonomous underwater vehicle. The specific a application involves tracking underwater cables and chains. Feature points are identified in the underwater video images using a technique which combines segmentation by gray level an run length. Hough transformation is then used to find the straight line in the image. The process is performed at a throughput of approximately 1 image per second using a PC-bus video frame grabber and a PCAT compatible micro-computer.
- Underwater and Marine Navigation and Guidance
- Marine Engineering