Vision-Based Autonomous Underwater Swimming in Dense Coral for Combined Collision Avoidance and Target Selection

Abstract

We address the problem of learning vision-based, collision-avoiding, and target-selecting controllers in 3D, specifically in underwater environments densely populated with coral reefs. Using a highly maneuverable, dynamic, six-legged (or flippered) vehicle to swim underwater, we exploit real time visual feedback to make close-range navigation decisions that would be hard to achieve with other sensors. Our approach uses computer vision as the sole mechanism for both collision avoidance and visual target selection. In particular, we seek to swim close to the reef to make observations while avoiding both collisions and barren, coral-deprived regions. To carry out path selection while avoiding collisions, we use monocular image data processed in real time. The proposed system uses a convolutional neural network that takes an image from a forward-facing camera as input and predicts unscaled and relative path changes. The network is trained to encode our desired obstacle-avoidance and reef-exploration objectives via supervised learning from human-labeled data. The predictions from the network are transformed into absolute path changes via a combination of a temporally-smoothed proportional controller for heading targets and a low-level motor controller. This system enables safe and autonomous coral reef navigation in underwater environments. We validate our approach using an untethered and fully autonomous robot swimming through coral reef in the open ocean. Our robot successfully traverses 1000 m of the ocean floor collision-free while collecting close-up footage of coral reefs.