A High-accuracy Visual Localization Method Oriented to Underwater Slide Way Installation

摘要

This paper proposed a high-accuracy visual localization method torealize the accurate positioning and installing of underwater slide way.Firstly, improvements were made on both the measuring objects andcamera shooting approach, to overcome the low visibility caused bymuddy waters. Secondly, an integration enhancement methodcombined with the improved adaptive median filter and just-noticeabledifference (here after abbreviated as JND) is proposed to enhance thequality of underwater image. Thirdly, image thinning is accomplishedby morphological operators. Finally, the measurement features areextracted from the thinning result and then the related positioninformation is calculated by the corresponding features of two adjacenttracks. Several field trials are carried out to verify the efficiency of ourapproach. Experimental results show that the presented technology isfeasible and can achieve accurate installation.