ARTIFICIAL LANDMARK FOR FACILITATING IDENTIFICATION BY UNDERWATER IMAGING SONAR AND IMAGE PROCESSING

摘要

The present invention relates to a method which makes an underwater robot to identify its own position and do an autonomous action by identifying an underwater object by using underwater imaging sonar. According to the present invention, an artificial landmark for facilitating identification and image processing by the underwater imaging sonar is provided. The artificial landmark is formed to easily perform the identification and distinguish through the underwater imaging sonar in comparison with a natural object or other object and is formed to facilitate the image processing using a computer that is designed to be easily modeled on the image plane to solve a disadvantage of traditional underwater imaging sonar in which acquirement of stable and clear information is difficult because of characteristics of a sonar image, environment factors, and scant information. The artificial landmark comprises; a main body unit which forms a main body of the artificial landmark; and a pattern unit which is formed by forming a predetermined arbitrary pattern in the main body unit.