Abstract Optics-based systems may provide high spatial and temporal resolution for close range object detection in underwater environments. By using a monocular camera on a low cost underwater vehicle manipulator system, objects can be tracked by the vehicle and handled by the manipulator. In this paper, a monocular camera is used to detect an object of interest through object detection. Spatial features of the object are extracted, and a dynamic positioning system is designed for the underwater vehicle in order for it to maintain a desired position relative to the object. A manipulator mounted under the vehicle is used to retrieve the object through a developed kinematic control system. Experimental tests verify the proposed methodology. A stability analysis proves asymptotic stability properties for the chosen sliding mode controller and exponential stability for the task error.

中文翻译：

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基于单目视觉的物体抓取

摘要 基于光学的系统可以为水下环境中的近距离物体检测提供高空间和时间分辨率。通过在低成本水下航行器机械手系统上使用单目相机，水下航行器可以跟踪物体并由机械手处理。在本文中，使用单目相机通过物体检测来检测感兴趣的物体。提取物体的空间特征，并为水下航行器设计动态定位系统，使其相对于物体保持所需的位置。安装在车辆下方的操纵器用于通过开发的运动控制系统检索物体。实验测试验证了所提出的方法。