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Remote robotic exploration holds vast potential for gaining knowledge about extreme environments, which is difficult to be accessed by humans. In the last two decades, various underwater devices were developed for detecting the mines and mine-like objects in the deep-sea environment. However, there are some problems in recent equipment, like poor accuracy of mineral objects detection, without real-time processing, and low resolution of underwater video frames. Consequently, the underwater objects recognition is a difficult task, because the physical properties of the medium, the captured video frames, are distorted seriously. In this paper, we are considering use of the modern image processing methods to determine the mineral location and to recognize the mineral actually within a little computation complex. We firstly analyze the recent underwater imaging models and propose a novel underwater optical imaging model, which is much closer to the light propagation model in the underwater environment. In our imaging system, we remove the electrical noise by dual-tree complex wavelet transform. And then we solve the nonuniform illumination of artificial lights by fast guided trilateral bilateral filter and recover the image color through automatic color equalization. Finally, a shape-based mineral recognition algorithm is proposed for underwater objects detection. These methods are designed for real-time execution on limited-memory platforms. This pipeline is suitable for detecting underwater objects in practice by our experiences. The initial results are presented and experiments demonstrate the effectiveness of the proposed real-time visualization system.

Real-Time Visualization System for Deep-Sea Surveying