Visual close-range Navigation and Docking of Underwater Vehicles

Subsea residential autonomous systems will reduce the cost and CO 2 footprint of future subsea operations. This concept includes subsea docking stations (SDS) and Autonomous Underwater Vehicles (AUVs). To ensure the AUVs are capable of interfacing with the SDS, a driftless and accurate close-range navigation schema is required. Thus, this paper proposes a visual method for navigation utilizing a defined set of ArUco markers printed on the SDS. To increase the accuracy of the system, the set of ArUco markers is defined to a common frame of reference, introducing more points in the camera frame for a more accurate solution to the Perspective-n-Point problem. This makes the system robust against partial occlusion. The paper has also implemented a modified Line of Sight (LOS) schema for the guidance of the vehicle. The results show stable pose estimates at up to 6 meters above the SDS, and successful autonomous docking of an underwater vehicle. The navigational estimates provided by the system get more stable when the vehicle is closer to the SDS.