Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging

Xiang Li, Yuya Nishida, Myo Myint, Kenta Yonemori, Naoki Mukada, Khin Nwe Lwin, Matsuno Takayuki, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)


This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

Original languageEnglish
Title of host publicationOCEANS 2017 - Aberdeen
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781509052783
Publication statusPublished - Oct 25 2017
EventOCEANS 2017 - Aberdeen - Aberdeen, United Kingdom
Duration: Jun 19 2017Jun 22 2017


OtherOCEANS 2017 - Aberdeen
Country/TerritoryUnited Kingdom

ASJC Scopus subject areas

  • Instrumentation
  • Computer Networks and Communications
  • Oceanography
  • Acoustics and Ultrasonics
  • Automotive Engineering


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