Abstract
Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive updated mission information. Various methods for locating and tracking a DS exist, but most rely on expensive acoustic sensors, or are vision-based, which is significantly affected by water quality. In this paper, we present a vision-based method that utilizes adaptive color LED markers and dynamic color filtering to maximize landmark visibility in varying water conditions. Both AUV and DS utilize cameras to determine the water background color in order to calculate the desired marker color. No communication between AUV and DS is needed to determine marker color. Experiments conducted in a pool and lake show our method performs 10 times better than static color thresholding methods as background color varies. DS detection is possible at a range of 5 meters in clear water with minimal false positives.
Original language | English (US) |
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Title of host publication | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 9990-9996 |
Number of pages | 7 |
ISBN (Electronic) | 9798350384574 |
DOIs | |
State | Published - 2024 |
Event | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duration: May 13 2024 → May 17 2024 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 |
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Country/Territory | Japan |
City | Yokohama |
Period | 5/13/24 → 5/17/24 |
Bibliographical note
Publisher Copyright:© 2024 IEEE.