Detection and Recognition of the Underwater Object with Designated Features Using the Technical Stereo Vision System

The article discusses approaches to solving the problems of detecting, recognizing, and localizing an object with given distinctive features in an aquatic environment using a technical stereo vision system, taking into account restrictions. The stereo vision system is being developed as part of the task in which the AUV, for the purpose of conducting a monitoring mission, follows from the starting point of its route along a given trajectory in order to detect and classify an object with known characteristics and determine its coordinates using a technical stereo vision system at a distance up to 5 m from it with appropriate water clarity. The developed program for the system of the technical stereo vision should provide the AUV with the following information: video sequence; a frame with an image of the detected object; previously unknown characteristics of the object if it is possible to detect them (color, size or shape); distance to the object from the technical stereo vision system; and linear coordinates relative to the technical stereo vision system. Testing of the developed software was carried out on the operating module of the stereo vision installed on the AUV in the underbody compartment. The study was carried out in the pool and in open water. The experiments performed have shown the effectiveness of the developed system when used in conjunction with an underwater robot.