A Detection Algorithm of a Test-bed AUV, SNUUV-II

A vision system of unmanned vehicles has been developed for high autonomous operations. With the help of a high performance of embedded computers, a vision system can be economically used for underwater vehicles. The low-cost vision system is applied to a test-bed AUV, named as SNUUV-II (Seoul National University Underwater Vehicle II). In this paper, a detection algorithm based on pattern matching is developed for SNUUV-II. Finally, the algorithm is examined for detecting a specific target from the background disturbances.