Applying Structured Light Laser Imaging to Underwater Obstacle Avoidance and Navigation

Barrett, David; Vandor, Isaac; Kohler, Emily

doi:10.1109/oceans.2018.8604751

OCEANS 2018 MTS/IEEE Charleston 2018

DOI: 10.1109/oceans.2018.8604751

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Applying Structured Light Laser Imaging to Underwater Obstacle Avoidance and Navigation

David Barrett

Isaac Vandor

Emily Kohler

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Low-cost optical techniques for detecting and imaging different objects underwater

Hyiamang

Guo

et al. 2021

J. Phys.: Conf. Ser.

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The camera has been commonly used in underwater image acquisition experiments, but the image noise is high, and the distance is limited because of the underwater scattering effect. In this paper, the optical detection device of underwater objects, 520 nm continuous laser modulation by PWM pulse modulation (10 Hz, 60% space ratio), was used to scan and detect two completely different objects (such as advanced resin and green leaves). The photodetectors were used to replace cameras, collect and process the received laser echo signals, and image and display the data. The detected objects images can be visually displayed in the form of grayscale images (resolution of 143 x 62), and the corresponding effects have been discussed. In the experiment, we used a 70 cm long ultra-white glass cylinder and detected a distance of 45 cm, and the results were very consistent with the actual situation.

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Low-cost optical techniques for detecting and imaging different objects underwater

Hyiamang

Guo

et al. 2021

J. Phys.: Conf. Ser.

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Binocular-Vision-Based Obstacle Avoidance Design and Experiments Verification for Underwater Quadrocopter Vehicle

Zhang

Cai

Xie

et al. 2022

JMSE

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As we know, for autonomous robots working in a complex underwater region, obstacle avoidance design will play an important role in underwater tasks. In this paper, a binocular-vision-based underwater obstacle avoidance mechanism is discussed and verified with our self-made Underwater Quadrocopter Vehicle. The proposed Underwater Quadrocopter Vehicle (UQV for short), like a quadrocopter drone working underwater, is a new kind of Autonomous Underwater Vehicle (AUV), which is equipped with four propellers along the vertical direction of the robotic body to adjust its body posture and two propellers arranged at the sides of the robotic body to provide propulsive and turning force. Moreover, an underwater binocular-vision-based obstacle positioning method is studied to measure an underwater spherical obstacle’s radius and its distance from the UQV. Due to its perfect ability of full-freedom underwater actions, the proposed UQV has obvious advantages such as a zero turning radius compared with existing torpedo-shaped AUVs. Therefore, one semicircle-curve-based obstacle avoidance path is planned on the basis of an obstacle’s coordinates. Practical pool experiments show that the proposed binocular vision can locate an underwater obstacle accurately, and the designed UQV has the ability to effectively avoid multiple obstacles along the predefined trajectory.

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Applying Structured Light Laser Imaging to Underwater Obstacle Avoidance and Navigation

Cited by 2 publications

References 2 publications

Low-cost optical techniques for detecting and imaging different objects underwater

Low-cost optical techniques for detecting and imaging different objects underwater

Binocular-Vision-Based Obstacle Avoidance Design and Experiments Verification for Underwater Quadrocopter Vehicle

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