Algorithm for dynamic formation of a single raster photo map of the seabed during the movement of an autonomous underwater vehicle

Abstract

An algorithm has been developed for creating a single raster map of the seabed from photos obtained from vertically downward cameras of autonomous underwater vehicles (AUV) using tile graphics. The images obtained during the movement of AUV are combined into a single scalable photo map, divided into square segments (tiles). This representation of graphical information allows to quickly access the images with specialized tools after lifting the AUV to the surface and reduce the time spent by the operator to analyze the results of the mission. The images were combined using simple geometric transformations based on the data received from the navigation systems of the underwater vehicle and the parameters of its camera. The efficiency of the algorithm was tested on real data taken from a marine expedition.