Underwater Robot With 3-D Object Recognition and Tracking
The MOS AUV approaches a target represented by a three-color coordinate system. Photo: Okayama University.
Researchers at Okayama University, in collaboration with Kowa Corp., have developed an underwater robot with three-dimensional object recognition using charge-coupled device technology for autonomous search and tracking operations.
The device is aimed for applications in seafloor radiation, ocean floor exploration for materials such as rare earth metals, underwater telecommunications infrastructure maintenance, environmental monitoring, demining, recovering space debris, and search-and-rescue operations, according to a university press release.
“Our autonomous underwater vehicle operates using the combination of our new ‘Move on Sensing’ three dimensional visual servo CCD technology with real-time stereopsis and detection of conventional sonar signals,” says Mamoru Minami, professor at Okayama’s Graduate School of Natural Science and Technology. “Underwater navigation with this combination of sound and 3-D visual servo feedback enables our AUV to search, track and pinpoint targets with a precision of five millimeters.”
Minami expects the accuracy to improve up to tenfold in future development stages as they have achieved this higher mark with ground robots.
The team tested the prototype in a test pool, where the AUV was able to dock with a seven-centimeter diameter hole, which simulated a charging dock. The robot was able to successfully approach the target from three different angles.
“The two CCD cameras of the MOS visual servo system are located at the front of the robot to track optical induction markers emitted by light sources on the target,” says Minami. “We use genetic algorithms to match the CCD images with 3-D models of the target.”
The robot is currently capable of tracking moving targets at speeds up to 10 millimeters per second.
