VISUAL NAVIGATION AND 3D RECONSTRUCTION OF UNDERWATER OBJECTS WITH AUTONOMOUS UNDERWATER VEHICLE

摘要

An approach to the solution of a problem for autonomous underwater vehicle navigation and 3D reconstruction of locality by stereo images is described. The basis for navigation by stereo images is the method of visual odometry. Several modifications of the method directed to increase in accuracy of vehicle localization and decrease in computing expenses were suggested. It includes an adaptive procedure of trajectory calculation, an algorithm for the features processing on the trajectory fragments increasing an accuracy of calculation for local motion of vehicle as well as the method of visual navigation for underwater vehicle in the conditions of local maneuvering based on using of virtual network for coordinate referencing. Besides, the method of problem solution for 3D objects reconstruction based on images processing needed for survey underwater operations execution is described.