A.V. Fedin, D.S. Potekhin, O.V. Martynov, A.S. Karpenkov

FSUE “VNIIFTRI”, Mendeleevo, Moscow region, Russia;
a_fedin@list.ru,
karpenkov_as@vniiftri.ru

Al’manac of Modern Metrology № 3 (43) 2025, pages 78–87

The page of the article in Russian

Abstract. This paper proposes an integrated approach to organizing an underwater vision system that incorporates two overlapping methods. First, the method of dynamically tracking image sections for parallax determination in stereo cameras is adapted. This method was originally developed for visual odometry in terrestrial conditions. Second, active laser illumination methods are used to improve image quality and increase the detection range in complex underwater environments. This combined system significantly improves under­water image quality, accurately restores scene depth, and extends the object detection range to over 90 meters. Experimental results demonstrate that the synergy between image processing algorithms and active laser illumination creates new possibilities for autonomous navigation, archaeological research, and the monitoring of underwater objects.

Keywords: vision system, stereo camera, visual odometry

Full texts of articles are available only in Russian in printed issues of the magazine.

Previouse article ……. Contents ……. Next article