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Autonomous Underwater Vehicles (AUVs) conduct missions underwater without theneed for human intervention. A docking station (DS) can extend mission times ofan AUV by providing a location for the AUV to recharge its batteries andreceive updated mission information. Various methods for locating and trackinga DS exist, but most rely on expensive acoustic sensors, or are vision-based,which is significantly affected by water quality. In this \doctype, we presenta vision-based method that utilizes adaptive color LED markers and dynamiccolor filtering to maximize landmark visibility in varying water conditions.Both AUV and DS utilize cameras to determine the water background color inorder to calculate the desired marker color. No communication between AUV andDS is needed to determine marker color. Experiments conducted in a pool andlake show our method performs 10 times better than static color thresholdingmethods as background color varies. DS detection is possible at a range of 5meters in clear water with minimal false positives.

Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments