UUVs Navigation Environment Reconstruction Using Active Vision System

Machine vision is the computer application of vision that enables machines to comprehend their surroundings. The use of machine vision systems in robots allows for more sophisticated and potent operation in real-world applications, such as environmental exploration. In addition to the seafloor of the Unmanned Underwater Vehicle (UUV), a binocular machine active vision system has been used to recreate incomplete or unknown navigation maps. Four processing steps make up the system: frame capture, pre-processing, matching, and depth recovery, which is used to calculate the distance between the object and the system, stored in a relative depth matrix, and, lastly, updating the navigation map.