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Color is an important cue in object recognition and classification problems. In underwater imagery, colors undergo strong distortion due to light propagation through an absorbing and scattering medium. Distortions depend on a number of complex phenomena, the most important being wavelength-dependent absorption and the sensitivity of sensors in trichromatic cameras. It has been shown previously that unique reconstruction in this case is not possible-at least for a simplified image formation model. In this paper, the authors use numerical simulations to demonstrate that this statement also holds for the underwater image formation model that is currently the most sophisticated.

Knowledge of spectral sensitivity is important for high-precision comparison of images taken by different cameras and recognition of objects and interpretation of scenes for which color is an important cue. Direct estimation of quantum efficiency curves (QECs) is a complicated and tedious process requiring specialized equipment, and many camera manufacturers do not make spectral characteristics publicly available. This has led to the development of indirect techniques that are unreliable due to being highly sensitive to noise in the input data, and which often require the imposition of additional ad hoc conditions, some of which do not always hold. We demonstrate the reason for the lack of stability in the determination of QECs and propose an approach that guarantees the stability of QEC reconstruction, even in the presence of noise. A device for the realization of this approach is also proposed. The reported results were used as a basis for the granted US patent.

This paper presents a proof-of-concept optical detector array sensor system to be used in Unmanned Underwater Vehicle (UUV) navigation. The performance of the developed optical detector array was evaluated for its capability to estimate the position, orientation and forward velocity of UUVs with respect to a light source fixed in underwater. The evaluations were conducted through Monte Carlo simulations and empirical tests under a variety of motion configurations. Monte Carlo simulations also evaluated the system total propagated uncertainty (TPU) by taking into account variations in the water column turbidity, temperature and hardware noise that may degrade the system performance. Empirical tests were conducted to estimate UUV position and velocity during its navigation to a light beacon. Monte Carlo simulation and empirical results support the use of the detector array system for optics based position feedback for UUV positioning applications., Competing Interests: The authors declare no conflict of interest.