Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system

Myo Myint, Khin Nwe Lwin, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Yuuichirou Toda, Saitou Kazuhiro, Mamoru Minami

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper presents the verification of the turbidity tolerance of a stereo-vision-based 3D pose estimation system for underwater docking applications. To the best of the authors’ knowledge, no studies have yet been conducted on 3D pose (position and orientation) estimation against turbidity for underwater vehicles. Therefore, the effect of turbidity on the 3D pose estimation performance of underwater vehicles and a method of operating under turbid conditions were studied in this work. A 3D pose estimation method using the real-time multi-step genetic algorithm (RM-GA) proposed by the authors in the previous works shows robust pose estimation performance against changing environmental conditions. This paper discusses how and why the RM-GA is well suited to effective 3D pose estimation, even when turbid conditions disturb visual servoing. The experimental results confirm the performance of the proposed 3D pose estimation system under different levels of turbidity. To demonstrate the practical usefulness of the RM-GA, docking experiments were conducted in a turbid pool and a real sea environment to verify the performance and tolerance of the proposed system under turbid conditions. The experimental results verify the robustness of the system against turbidity, presenting a possible solution to a major problem in the field of robotics.

Original languageEnglish
Pages (from-to)756-779
Number of pages24
JournalJournal of Marine Science and Technology (Japan)
Issue number3
Publication statusPublished - Sept 13 2019


  • 3D pose estimation
  • Real-time multi-step genetic algorithm
  • Robustness against turbidity
  • Sea docking
  • Stereo-vision
  • Visual servoing

ASJC Scopus subject areas

  • Oceanography
  • Ocean Engineering
  • Mechanics of Materials
  • Mechanical Engineering


Dive into the research topics of 'Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system'. Together they form a unique fingerprint.

Cite this