Visibility improvement in relation to turbidity and distance, and application to docking

Horng Yi Hsu, Yuichiro Toda, Keigo Watanabe, Mamoru Minami

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Recently, autonomous underwater vehicles (AUVs) are being used in many applications. There is a limitation for underwater vehicle’s operation that takes a longer duration than the power capacity of underwater vehicles. Since underwater battery recharging station is supposed to be installed in the deep-sea bottom, the deep-sea docking experiments cannot avoid turbidity and dark environment. In this study, we propose a newly designed active 3D marker to improve the visibility of the 3D marker. A docking experiment apparatus was built. Two kinds of the 3D marker were used in the experiment, which were the active (light) and passive (non-light) 3D markers. The experimental results show the active 3D marker can be more recognizable in turbidity and dark environment than the passive 3D marker.

Original languageEnglish
Pages (from-to)453-465
Number of pages13
JournalArtificial Life and Robotics
Issue number3
Publication statusPublished - Aug 1 2020


  • 3D marker
  • Stereo-vision
  • Turbidity
  • Visual servoing

ASJC Scopus subject areas

  • General Biochemistry,Genetics and Molecular Biology
  • Artificial Intelligence


Dive into the research topics of 'Visibility improvement in relation to turbidity and distance, and application to docking'. Together they form a unique fingerprint.

Cite this