Research on the Machine Vision Positioning Method Applied in the Docking System

The docking stage is a key for the entering of the AUV into the docking station. In this work, the monocular and binocular positioning methods that can solve the three-dimensional pose information of the AUV are applied during AUV docking process. The accuracy and real-time performance of the two machine vision positioning methods are verified in the pool experiment. Then we combined the two positioning methods for docking experiment of the ROV-shaped AUV. The results show that the monocular and binocular positioning methods can perform well in the docking stage.