System for underwater depth perception having an image sensor and a complementary sensor

A system, comprising:

• a submersible device;
• and
• a manipulator of the submersible device, wherein the submersible device, further comprises:
• an image sensor, the image sensor comprising any type of sensor that captures an image based on reflected or emitted electromagnetic radiation or mechanical waves;
• a complementary sensor, the complementary sensor being configured to complement the image sensor, wherein the complementary sensor comprises an inertial measurement unit (IMU), an inertial navigation system (INS), a pressure sensor, a sonar device, or a doppler velocity log (DVL) device, or any combination thereof;
• a computing system, configured to determine attributes of underwater depth perception to provide underwater depth perception based on data sensed by the image sensor and the complementary sensor;
• and
• controller instructions configured to control parts and operations of the submersible device according to the determined attributes of the depth perception, wherein the parts and operations includes parts and operations of the manipulator of the submersible device.

A system, comprising:

• an image sensor, the image sensor comprising any type of sensor that captures an image based on reflected or emitted electromagnetic radiation or mechanical waves;
• a complementary sensor, the complementary sensor being configured to complement the image sensor, wherein the complementary sensor comprises an inertial measurement unit (IMU), an inertial navigation system (INS), a pressure sensor, a sonar device, or a doppler velocity log (DVL) device, or any combination thereof;
• a computing system, configured to determine attributes of underwater depth perception to provide underwater depth perception based on data sensed by the image sensor and the complementary sensor;
• a submersible device;
• a first control system configured to control movement of the submersible device according to the determined attributes of the depth perception;
• and
• a second control system configured to control operations of a manipulator of the submersible device according to the determined attributes of the depth perception,
• wherein the computing system, the image sensor, and the complementary sensor are configured to operate together to measure a relative position of an object in an image captured by the image sensor and according to a virtual position of the complementary sensor to provide the underwater depth perception, and
• wherein computing by the computing system to provide the underwater depth perception occurs onboard the submersible device.