Underwater vehicle visual servo and target grasp control

Binocular stereoscopic vision system of underwater vehicle plays an important role in promoting the exploration and development of the marine environment. In order to realize the underwater autonomous grasping task based on visual servoing, this paper studied binocular vision ranging technology of underwater vehicle and vision control technology of manipulator. By adjusting the placement and pose of the underwater calibration board, the calibration error was reduced. In terms of the characteristics of less feature points detected by the underwater images, Harris corner detection algorithm has been improved, after that, more corners are detected from underwater images. It is more difficult to accurately describe feature points of underwater images, however, by using Daisy operator to describe the key points which are detected by SIFT algorithm, not only describing the characteristics points of the image accurately, but can also indicating pixel points around the occluded area.