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ISSN: 1023-5086


ISSN: 1023-5086

Scientific and technical

Opticheskii Zhurnal

A full-text English translation of the journal is published by Optica Publishing Group under the title “Journal of Optical Technology”

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DOI: 10.17586/1023-5086-2023-90-07-26-37

УДК: 629.58, 681.783.332.3

Range-gated active-imaging system for an underwater robotic complex

For Russian citation (Opticheskii Zhurnal):

Костылёв Н.М., Колючкин В.Я., Шустова А.А. Активно-импульсная система технического зрения для подводного робототехнического комплекса // Оптический журнал. 2023. Т. 90. № 7. С. 26–37.


Kostylev N.M., Kolyuchkin V.Ya., Shustova A.A. Range-gated active-imaging system for an underwater robotic complex [in Russian] // Opticheskii Zhurnal. 2023. V. 90. № 7. P. 26–37.

For citation (Journal of Optical Technology):

Nikita M. Kostylev, Vasiliy Ya. Kolyuchkin, and Anastasiya A. Shustova, "Range-gated active-imaging system for underwater robots," Journal of Optical Technology. 90(7), 369-375 (2023).


Subject of study. Technical vision systems for underwater robotic complexes. The aim of the study is to develop the principles of operation and determine the technical requirements for the components of a vision system designed to register 3D images of underwater objects in a wide range of distance. Method. To reduce the effect of backscattering, a range-gating method was implemented by using a pulsed laser in the illumination channel and an image converter in the receiving channel. To register 3D images of objects, a triangulation method with structured illumination in the form of laser stripes was used. Main results. The principle of a range-gated active-imaging system operation, designed to register 3D images of underwater objects, has been developed. A technique for light-energy calculation of such systems has been developed. Experimental studies carried out in laboratory conditions confirmed the operability of a prototype model of an active-imaging system created on the basis of the proposed principles. Practical significance. The proposed technical solutions in the development of a vision system make it possible to increase the detection range of objects in underwater conditions and thereby increase the efficiency of the underwater robotic systems functioning.


range-gated active-imaging system, underwater vision system, range-gating, registration of 3D images, image intensifier tube, acousto-optic deflector

OCIS codes: 010.4450, 010.4458, 150.0155, 150.6910


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