Automatic camera control for AUVs: a comparison of image assessment methods

The authors compare the performance of a spatial domain and a spatial frequency domain control method used to assess image content information from charge coupled device (CCD) camera imagery. Sample underwater images were processed using the developed techniques and are used to illustrate comparative levels of control for different water qualities, object contrasts, and ranges. The implementation algorithm required to use these techniques to control an autonomous underwater vehicle's camera light level and range-to-target distance is also presented.<>