Real-time shallow water image retrieval and enhancement for low-cost unmanned underwater vehicle using Raspberry Pi

Unmanned Underwater Vehicles (UUV) operated underwater without any human interference. UUVs can be used for many purposed i.e. exploration or spying. They have several designs and each one can be used for a specific purpose. Main problem that limits the functionality of UUV is poor image quality. Reason behind this poor image quality is scattering and wavelength absorption. Purpose of this paper is to propose an electrical assembly design of low-cost UUV. In order to carry out this work use of Raspberry-Pi is proposed which is a small computer own it's own. It can be used to enhance image quality and detect objects along with color detection. For controlling the propellers in accordance to any hindrance, pulse width modulation(PWM) GPIO pins are used. GPIO pins are also used to attach sensors. For enhancement of images python 3 was used and different image enhancement methods were tested on basis of execution time per frame. In the end, best model is selected which is more suitable on basis of execution time and image enhancement. In order to transmit the images from UUV to base computer wi-fi module of Raspberry pi is used.