Underwater distance ranging implemented through a stereo vision system

• Main Author: Cabarle, Luis Eduardo B.
• Format: text
• Language: English
• Published: Animo Repository 2014
• Subjects: Sonar; Robot vision; Underwater cameras; Electrical and Computer Engineering
• Online Access: https://animorepository.dlsu.edu.ph/etd_masteral/6816
• Institution: De La Salle University

The goal of this paper is to implement an underwater distance ranging system using a stereo vision system. Target tracking is based on the color of the targets. The ranging algorithm was designed so that it can range targets up to 2 meters away with a minimum accuracy of 90%. An algorithm for ranging above ground and underwater was implemented and the two were compared. Algorithms were setup using samples from an aquarium, pool and beach. It was found that the algorithm may be setup more accurately using samples from a wider range of distances. Different colors of lighting was used to illuminate a target to see which wavelength best lights up the environment underwater on its own. It was found that wavelengths above the visible range could be ruled out. Camera performance was measured under varying conditions of salinity. It was found that the camera used performed worse for salt water in general as the videos it recorded became blurred with increase in salinity.