A kind of station keeping servo method based on texture and global characters analyzing for under water vehicle is described in this paper. Most of other systems with the same function adopt some artificial targets or other obvious characters such as corner, line, or outline for servoing. In some cases, the target, especially nature objects, haven't many obvious characters for identification. Texture and some region characters can be considered as the inherent features. The nature texture elements have their special relationships which will change according to the distance and the position changing between the camera and the texture elements. After some analyzing of texture, this paper gives an automatic texture region recognition and tracking algorism. A satisfying result of simulate controlling the four freedoms underwater vehicle with servoing is shown at the end of the paper.
The linear trajectory is one of major performance for industrial robot. A vision-based robots' linear trajectory measure system is introduced in this paper using a structure light and a special measure track. The three inflexions of the optical strip imaging at the V shape track are used to compute the pose between the sensor frame and the track frame, then the linear trajectory of robot can be computed. The emphasis of this paper is the image processing. At this paper, the process of the image processing method for this system will be described at first, then the key methods include image segmentation and line fitting will be discussed, at last the experiment results will be given.