A robust underwater visual positioning method for brightness based on prior information
This paper proposes a method for UUV underwater recovery that combines acoustic and optical positioning methods,with a focus on visual positioning.Aiming at the problem of poor stability of visual positioning in the case of dra-matic change of brightness,a target contour extraction algorithm based on prior information is designed.It makes full use of the environmental brightness information and the physical attributes of the cooperative target.Solving the problems of target missing and false detection caused by the high or uneven brightness of the background by filtering the region of interest(ROI),dynamic threshold and other methods,so as to optimize the accuracy of target image coordinates and spatial coordin-ates.The algorithm is applied in the lake experiment to realize the reliable detection and accurate positioning of UUV targets,all-day and all-weather,which verifies that this algorithm is robust to change of environment brightness.
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