Target recognition and location based on binocular vision system of UUV

Since Unmanned Underwater Vehicle (UUV) operates underwater autonomously, an improved algorithm of object recognition and location for UUV is proposed in this paper. Firstly, the binocular camera is calibrated by Lenz distortion model; Secondly, the acceptable threshold for object recognition is used in the conventional Gaussian Mixture Model (GMM)to establish the classified recognition model. By comparing object features with the model, object is recognized. Finally, feature points in the binocular vision images are searched and matched using the hierarchical matching search method of NCC, thus the position and orientation of object is achieved. Tank simulation results have illustrated that: the proposed method is feasible, effective and real-time, which meets the requirements of autonomous operation by UUV.