Stabilization of an autonomous underwater vehicle relative to the sea bottom by means of the stereoscopic images processing

The algorithms of autonomous underwater vehicle /AUV/ motion detection and near the bottom stabilization based on stereoscopic images processing are considered in the paper. The approach is based on detection of the same objects on the consecutive frames and their joint displacement calculation. Some results of the real underwater image processing and considered algorithms operation onboard of small sized AUV during the pool trials are supplemented.