Recently, many studies have been performed worldwide to extend the persistence of underwater operations by autonomous underwater vehicles. Underwater battery recharging technology is one of the solutions even though challenges still remain. The docking function plays an important role not only in battery recharging but also in other advanced applications, such as intervention. Visual servoing in undersea environments inevitably encounters difficulties in recognizing the environment when captured images are disturbed by noise. This study describes the effective recognition performance and robustness against air bubble disturbances in images captured by a real-time position and orientation (pose) tracking and servoing system using stereo vision for a visual-servoing-type underwater vehicle. The recognition of the vehicle pose based on dynamic images captured by dual video cameras was performed by a real-time multistep genetic algorithm (RM-GA). In previous studies, the docking performance was investigated under the condition that there were no disturbances in the captured images that address image degradation. In this paper, the robustness of the RM-GA against air bubble disturbances was verified through visual servoing and docking experiments in a pool test to confirm that the system can continue to recognize the pose of the 3-D marker and can maintain the desired pose by visual servoing. Then, the effectiveness of the proposed system against real disturbances such as turbidity that may degrade the visibility of the system in the sea was confirmed by conducting the docking experiment in a real sea, having verified the practicality of the proposed method.

中文翻译：

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使用双眼相机通过 3D 感知视觉对接以对抗气泡噪声

最近，世界范围内进行了许多研究，以延长自主水下航行器在水下作业的持久性。尽管挑战仍然存在，但水下电池充电技术是解决方案之一。对接功能不仅在电池充电中发挥着重要作用，而且在其他高级应用中也发挥着重要作用，例如干预。当捕获的图像受到噪声干扰时，海底环境中的视觉伺服不可避免地会遇到识别环境的困难。本研究描述了使用立体视觉的视觉伺服型水下航行器的实时位置和方向（姿势）跟踪和伺服系统捕获的图像中气泡扰动的有效识别性能和鲁棒性。基于双摄像机捕获的动态图像的车辆姿态识别由实时多步遗传算法（RM-GA）执行。在之前的研究中，对接性能是在捕获的图像中没有解决图像退化问题的干扰的条件下研究的。在本文中，通过池测试中的视觉伺服和对接实验验证了 RM-GA 对气泡扰动的鲁棒性，以确认系统可以继续识别 3-D 标记的姿态并可以保持所需的姿态通过视觉伺服。然后，通过在真实海中进行对接实验，证实了所提出的系统对抗真实干扰的有效性，例如可能降低系统在海中能见度的浊度，