Vision-Based Underwater Cable/Pipeline Tracking Algorithms in AUVs: A Comparative Study
Alex Raj S.M.1, Rita Maria Abraham2, Supriya M.H.3

1Alex Raj S.M, Department of Electronics, Cochin University of Science and Electronics, Kochi (Kerala), India.
2Rita Maria Abraham, Department of Electronics and Communication, Government Engineering College, Barton Hill, Thiruvananthapuram (Kerala), India.
3Supriya M.H, Department of Electronics, Cochin University of Science and Electronics, Kochi (Kerala), India.

Manuscript received on 15 April 2016 | Revised Manuscript received on 25 April 2016 | Manuscript Published on 30 April 2016 | PP: 48-52 | Volume-5 Issue-4, April 2016 | Retrieval Number: D4478045416/16©BEIESP
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Abstract: The advancement in the field of communication has led to laying of cables in the seafloor. Pipelines that are used for transporting gas and oil are laid in a similar manner. Due to the dynamic nature of the seabed, these structures may get worn out easily and become useless. In such a situation, regular surveillance of seafloor is unavoidable. As the process is difficult for a human operator, vehicles are used for the same, and are called Autonomous Underwater Vehicles (AUV). AUVs carry out surveys for inspection. Embedding intelligence into AUVs increases the speed of computation and the accuracy is improved. Various sensors associated with AUVs contribute to algorithms for navigational purposes. Various techniques are in use for cable/ pipeline inspection, out of which vision based systems offer cheaper but efficient solutions. This paper provides a review on such vision oriented systems for underwater surveillance.
Keywords: Autonomous Underwater Vehicles (Auvs), Navigation, Underwater Image, Vision-Based

Scope of the Article: Autonomous Robots