Advanced Maneuvering and Vision Algorithms for Surveys with the SPARUS II AUV
We focus on improving the visual survey capabilities of the SPARUS II AUV. First, we discuss several methods we developed for recovering color and contrast in underwater scenes. Underwater images often lack contrast and depict inaccurate colors due to scattering and absorption of light while it propagates in the water. Yet color and contrast are extremely important for visual surveys in the ocean. We will present methods we have developed for enhancing the images and improving the visibility range. Second, to meet the requirements for autonomous underwater visual survey missions the propulsion system of the existing AUV was upgraded to include two additional thrusterswhich extend the vehicle’s maneuverability by adding sway control and enhancing the existing yaw motion. We will describe the development of a 6 DoF dynamic model of the basic and the upgraded vehicle, and its experimental validation.