Visual Measurement and Control for Underwater Robots: A Survey
作者单位：State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences The Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences
会议名称：《第25届中国控制与决策会议》
会议届次：25th
会议日期：2013年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Natural Science Foundation of China(61075102) the Beijing Natural Science Foundation(4122084)
关 键 词：Visual measurement and control Underwater robots Embedded vision Bio-robotics.
摘 要：The recently increased interests in visual measurement and control applied to underwater robots have challenged the existing visual technologies that once were sufficient in ground-based applications. This paper surveys the major difficulties and representative applications in underwater visual measurement and control, most of which result from the particularity of the aquatic environments. Specifically, the state of the art of the underwater vision is summarized from different perspectives, primarily involving key points and existing problems. In particular, the application of the embedded vision-based system in the context of bionics is accented. Finally, the potential development trends and possible breakthroughs are discussed, shedding light on the effort both in hardware and software to advance real-world underwater vision applications.