Method for the Coordination of Referencing of Autonomous Underwater Vehicles to Man-Made Objects Using Stereo Images

The use of an autonomous underwater vehicle (AUV) to inspect industrial infrastructure requires the precise, coordinated movement AUV relative subsea objects. One significant system is production (SPS), which includes wells for oil and gas production, located on seabed. present paper suggests a method accurate navigation AUVs in distributed SPS coordinate space using video information. This based object recognition computation references Stable high accuracy during continuous realized through regular updating Stereo images, predefined geometric model, measurements absolute coordinates limited number feature points objects are used as initial data. matrix computed 3D matched with model. effectiveness proposed estimated results computational experiments virtual scenes generated simulator AUV, real data obtained by Karmin2 stereo camera (Nerian Vision, Stuttgart, Germany) laboratory conditions.