Abstract
Autonomous underwater vehicles (AUVs), unmanned underwater vehicles, are cheaper to operate than remotely operated vehicles (ROVs), since an AUV does not require a trained human operator to control. As a result, in this paper, we propose the pipeline tracking algorithm using sequences of the forward-looking sonar (FLS) images installed on a preprogram AUV. The FLS is more suitable to be used in the subsurface environment than an optical camera due to the limited visibility and floating particles in the sub-sea surface environment. In our work we first employed the speckle noise reduction to the FLS images. Then, we applied the level-set method (LSM) to extract a pipeline boundary in each frame. Lastly, the post-processing step was designed to link the unconnected segments together to from a complete pipeline. Our algorithm can perform the segmentation and tracking with more than 85% accuracy.
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