3-D location estimation of underwater circular features by monocular vision

Abstract Localization of underwater objects is essential for exploring the vast ocean resources, and circular features are the most common quadratic-curved features that have been addressed for localization. This paper presents a monocular-vision-based method for localization of underwater circular features (UCFs). Using a single camera image, this method can immediately extract the UCFs from the image, compensate the image distortion caused by the underwater environment, and estimate both orientation and position of the UCFs. Laboratory experiments demonstrate that the method is capable of estimating the 3-D location of a cylindrical object in clean water, and the accuracy and stability of the method are also analyzed by moving and relocating the object.

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