CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
3D VISION SYSTEM FOR UNDERWATER ROBOT
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Read | Kabanov Aleksey A., Kramar Vadim A., Kramar Oleg A. 3D VISION SYSTEM FOR UNDERWATER ROBOT // Caspian journal : management and high technologies. — 2021. — №2. — pp. 113-125. |
Kabanov Aleksey A. - Sevastopol State University, kabanov@sevsu.ru
Kramar Vadim A. - Sevastopol State University, vakramar@sevsu.ru
Kramar Oleg A. - Sevastopol State University, vakramar@sevsu.ru
The article deals with the development of an integrated high-resolution 3D vision system for remotely controlled and autonomous underwater robotic systems. The problem of developing a 3D vision system as a sensor subsystem of an underwater robot is presented. Typical examples of tasks solved with the help of such robotic systems are environmental monitoring; detection of objects and obstacles, their localization; convergence of the CRS with the object; performing operations with objects. The structure of a complex 3D vision system is presented. The description of the design of the main structural elements of the system is given, the main functionality of the developed test software is described. The technical characteristics of the subsystems are given, such as the module for the near-vision of the 3D vision system, the module for additional lighting, and the module for far vision. The description of the developed software for processing video data of a stereo camera (stereo module) in real-time is given. The paper presents the results of the test approbation of software that implements many algorithms for 3D reconstruction of the working space of an underwater robot based on information received from the stereo vision module. The approbation was carried out on the operating model of the underwater stereo vision module connected to the developed underwater robot. The study of the characteristics of a complex 3D vision system was carried out in an aquarium. The effectiveness of the developed system was shown by the experiments with the underwater robot.
Key words: computer vision system, underwater robot, stereo vision, sensor subsystem