Underwater video mosaicing using AUV and its application to vehicle navigation

Abstract

Underwater mosaic images have important information to survey the ocean floor, creatures, inspection of underwater structures, etc. Usually, the image acquisition of the underwater environment is performed by the human operators in the support vessels using remotely operated vehicles (ROVs) and towed fishes. However, the tasks have difficulties caused by their operating environment and poor visibility. This paper describes an underwater video mosaicing system using an autonomous underwater vehicle (AUV).