Abstract
The importance of visual formation in the operation of robots cannot be undervalued always, since about 80% of human sensed information is due to vision. Although developments of Underwater Robotics Vehicles (URV) have been rapid in recent years, the underwater vision is still regarded as a major tough undertaking, particularly in turbid water condition. Sonar imaging offers a large range for detection but often falls short in achieving the required resolution for identification. Normal optical image method such as underwater camera offers inherently high resolution capability, but the absorption and scattering characteristic of marine medium severely limit range performance, e.g.
© 2001 Optical Society of America
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