Research on ision guidance and positioning technology on underwater docking
This paper put forward a multi-type marker cascaded guidance and positioning strategy to solve the vision positioning problem on underwater operating vehicles'docking and recovery to deep-sea manned platform.It designs a guidance and positioning system based on monocular vision,and adopts the modified k-means clustering algorithm to adaptive multi-thresholds segmentation.To recognize and positioning the docking station,a set of guide lights and a set of AprilTags are preinstalled.Pool tests for underwater guidance and positioning of ROV docking and recovery were conduc-ted with respect to light or dim conditions.Test results show that it can positioning well under interference conditions,i.e.,suspended particles in water or uneven illumination during operating.It further suggests that the method proposed in this pa-per is feasible and stable.
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