Trajectory Measurement and Positioning of Underwater Vehicle Based on Monocular Stereo Vision

In order to measure and locate the trajectory of the underwater robot in the nuclear power plant, a monocular stereo vision navigation method is proposed. Firstly, two target images are obtained by the translation of the camera on the upper part of the robot, which is equivalent to binocular stereo vision. The fast algorithm of FFT frequency domain cross-correlation and summation is used to stereo match the two target images and realize the fast detection of the target position; Then the target position is calculated by using the center of vision algorithm and triangulation principle to track and approach the target. When the robot reaches the adjacent area of the target, the lower camera is used to detect the target and adjust the attitude until the distance error falls within the circle area permitted by the center of the target. The next step is to proceed. The actual test shows that the success rate of the robot using this visual navigation method is more than 95%.