Robotic Visual Tracking of Relevant Cues in Underwater Environments with Poor Visibility Conditions

Figure 13

Obtained results during a field trial in a coral reef. In (a) and (b) we can observe the -coordinate of the region of interest as well as the yaw angle of the AUV, respectively. In (c) images from the tracked RoI can be seen.

(a) -coordinate of the current tracked region

(b) AUV’s yaw angle and the desired yaw

(c) Examples of the tracked regions during the test