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Underwater image formation is degraded by several factors, which causes the ocean to be a challenging environment for image processing. This paper aims to improve the visual servoing capability of an autonomous underwater vehicle by using pre-processing algorithms to improve the image quality. We used artificial fiducial markers to feed the visual controller. Therefore, three different methods for...
Simulation of unmanned underwater vehicles (UUVs) plays an important role in the development of submarine robots. The test of controllers in different simulated scenarios is crucial in order to avoid the lengthy development on the real vehicle. Robot simulators like Gazebo have been extensively used for this purpose, even if off-the-shelf physic engines do not consider one of the main aspects of hydrodynamics:...
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