AUV Optical Vision Submarine Pipeline Inspection

In order to meet the practical needs of regular inspection of submarine pipelines, an optical vision inspection method for submarine pipelines mounted on Autonomous Underwater Vehicle (AUV) is proposed. Methods by improving the dark channel algorithm, an adaptive red channel coefficient method was proposed to obtain the submarine pipeline image with higher quality and less noise. The improved Hough transform line feature extraction method is proposed as the strategy of submarine pipeline, so as to reduce the false detection rate and improve the calculation efficiency. The KCF filter is introduced to track the submarine pipeline. The accuracy and accuracy of the proposed algorithm are 94% and meet the requirements of real-time pipeline detection.