Underwater Image Processing Device and Method for Path Retracing

Underwater Image Processing Device for Path Retracing Using Checkpoint Image Comparison

This technology is a navigation device for an underwater image processing unit that saves images and locations as checkpoints during free movement, and calculates and corrects relative position errors by comparing real-time captured images with stored images during retracing.

Using dead reckoning in underwater environments leads to cumulative sensor errors, limiting accurate positioning. In particular, there has been a lack of means to correct a robot's position in featureless underwater environments.

This technology proposes a method that uses feature point matching when feature points are detected in an image, and applies a Fourier transform to derive position errors when they are not. It can be applied to underwater exploration robots and marine structure inspection equipment, ensuring reliability in returning accurately to the original path even in homogeneous underwater environments without feature points.

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Key Features:

• A drive unit that moves the underwater image processing device and a sensing unit that measures surrounding environmental information
• A configuration that stores images captured during free movement and the locations where those images were taken as checkpoint information
• A configuration that stores images containing feature points in the checkpoint when feature points are detected in the image
• A configuration that calculates and corrects position errors by comparing sensed images with checkpoint images during retracing