Object perception in underwater environments: a survey on sensors and sensing methodologies
Huy D.Q. Sadjoli N. Azam A.B. Elhadidi B. Cai Y. Seet G.
1 January 2023Elsevier Ltd
Ocean Engineering
2023#267
Underwater robots play a critical role in the marine industry. Object perception is the foundation for the automatic operations of submerged vehicles in dynamic aquatic environments. However, underwater perception encounters multiple environmental challenges, including rapid light attenuation, light refraction, or back-scattering effect. These problems reduce the sensing devices’ signal-to-noise ratio (SNR), making underwater perception a complicated research topic. This paper describes the state-of-the-art sensing technologies and object perception techniques for underwater robots in different environmental conditions. Due to the current sensing modalities’ various constraints and characteristics, we divide the perception ranges into close-range, medium-range, and long-range. We survey and describe recent advances for each perception range and suggest some potential future research directions worthy of investigating in this field.
Object perception , Turbid environment , Underwater robotic
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SAAB, Singapore
SAAB-NTU Joint Lab, Nanyang Technological University, Singapore
Energy Research Institute, Nanyang Technological University, Singapore
School of Engineering and Digital Science, Nazarbayev University, Kazakhstan
SAAB
SAAB-NTU Joint Lab
Energy Research Institute
School of Engineering and Digital Science
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