Mathematical Modeling of the Process of Forming Video Frames by the Computer Vision System of an Underwater Vehicle

Underwater vehicles used for surveys and inspections are equipped with computer vision systems based on video cameras. The efficiency of such underwater vehicles depends on the onboard software used, the development of which must take into account the peculiarities of operating conditions. The separate system’s test of the underwater vehicle can be used as a simulation of the conditions for its operation. The model used for verification of the video system should take into account the environment, lighting, characteristics of on-board video cameras and the dynamics of the underwater vehicle. In the proposed model, the virtual seabed environment is created from a schematic image based on visualization. The calculation of the lighting of the simulated scene has a ray-tracing method. The camcorder model takes into account geometric parameters such as focus, pixel sizes, etc. That model uses perspective projection rules to describe the operation of the video camera. Practical implementation of the mathematical model can simulate two on-board video cameras at the same time. The developed model takes into account the spatial movement of the underwater vehicle. The developed model takes into account the spatial movement of the underwater vehicle. This feature of the model allows you to control linear and angular velocities. Considering these characteristics makes it possible to form video frames from the position of the underwater vehicle. This article presents the mathematical model of forming video frames of the seabed by an underwater vehicle.