Abstract
This paper studies the underwater image restoration problem in autonomous operation of AUV guided by underwater visual. An improved underwater image restoration method is developed based on multi-frame neighboring images under artificial light source. At first, multi-frame neighboring images are collected during AUV approaching the targets, and a transmittance estimation method is developed based on the multi-frame images to avoid the assumption of the known normalized residual energy ratio in the traditional methods. Then, the foreground and background regions of the images are segmented by locking the small area where the background light is located. Hence, the accuracy of background light estimation is improved for the underwater mages in turbid water to improve the accuracy of image restoration. Finally, the performance of the developed underwater image restoration method is verified by the comparative results in the pool environment.
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