Underwater wireless optical communication (UWOC) is a useful way to transmit a large
volume of data in ocean engineering. In application, one of the UWOC
terminals is usually carried on an underwater robot to actively adjust
its orientation and position to establish an optical link, which
requires the mobile terminal to locate the cooperation partner. At a
short communication distance, visual navigation is a preferred method
to measure the position. In this method, a camera is installed on the
mobile terminal while several light-emitting diodes (LEDs) are in the
cooperation one. In the image of the camera, by capturing the pattern
formed of LEDs light spots, the relative position and orientation
between terminals could be calculated. However, in a UWOC system,
visual navigation is interfered with by the UWOC transmitter since it
forms an additional light spot in the camera’s image. To solve this
issue, we present a UWOC-compatible visual navigation method, in which
the UWOC light spot is distinguished with the hue, saturation, and
value (HSV) color model. Then, we experimentally demonstrate the
effectiveness of the method in a pool, applying signals with different
bitrates and power on the transmitter. The results show that, while
the distance between terminals is within 350 cm and the yaw
angle is within 5°, the measured errors are within 1.77 cm and
0.92°, respectively, which is accurate enough for most UWOC
applications. The method presented in this paper is simple, pragmatic,
and useful for establishing a UWOC link.