Vision-based navigation method for a local maneuvering of the autonomous underwater vehicle

摘要

We propose a method for navigation of autonomous underwater vehicle based on visual odometry with regard to the conditions of the local maneuvers. The method is based on the SLAM-algorithm for stereo images and recognition algorithm for re-visited places. The operation of the algorithm for places recognition is based on using of virtual network for coordinate binding, which is constructed at the time of vehicle motion.