A Vision-based Control Framework for Real-time Autonomous UUV Operations

• URL: http://arxiv.org/abs/2608.04723v1
• Date: Wed, 05 Aug 2026 11:43:30 GMT
• Title: A Vision-based Control Framework for Real-time Autonomous UUV Operations
• Abstract summary: This paper presents a vision-based framework for real-time and robust localization, autonomous navigation, and mapping for unmanned underwater vehicles (UUVs)<n>The proposed pipeline enables both net-relative and global localization while generating continuous 3D maps of the surroundings in real-time.<n>Results demonstrate real-time performance and enhanced robustness, supporting vision-driven autonomous navigation.
• Score: 1.293050392312921
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a fully integrated vision-based framework for real-time and robust localization, autonomous navigation, and mapping for unmanned underwater vehicles (UUVs) in dynamic, visually challenging environments. The proposed pipeline enables both net-relative and global localization while generating continuous 3D maps of the surroundings in real-time. The framework was validated on synthetic datasets with ground truth and tested onboard an UUV during autonomous net-relative navigation experiments. Results demonstrate real-time performance and enhanced robustness, supporting vision-driven autonomous navigation and enabling the field deployment of marine robots for critical inspection and mapping tasks in complex underwater environments.

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