{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T02:47:34Z","timestamp":1772160454387,"version":"3.50.1"},"reference-count":43,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,1,28]],"date-time":"2023-01-28T00:00:00Z","timestamp":1674864000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52171331"],"award-info":[{"award-number":["52171331"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2022A0505050027"],"award-info":[{"award-number":["2022A0505050027"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2021A1515012552"],"award-info":[{"award-number":["2021A1515012552"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"International Science and Technology Cooperation Project of Guangdong Province","award":["52171331"],"award-info":[{"award-number":["52171331"]}]},{"name":"International Science and Technology Cooperation Project of Guangdong Province","award":["2022A0505050027"],"award-info":[{"award-number":["2022A0505050027"]}]},{"name":"International Science and Technology Cooperation Project of Guangdong Province","award":["2021A1515012552"],"award-info":[{"award-number":["2021A1515012552"]}]},{"name":"Guangdong Basic and Applied Basic Research Foundation","award":["52171331"],"award-info":[{"award-number":["52171331"]}]},{"name":"Guangdong Basic and Applied Basic Research Foundation","award":["2022A0505050027"],"award-info":[{"award-number":["2022A0505050027"]}]},{"name":"Guangdong Basic and Applied Basic Research Foundation","award":["2021A1515012552"],"award-info":[{"award-number":["2021A1515012552"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Autonomous underwater vehicles (AUV) recycling in an underwater environment is particularly challenging due to the continuous exploitation of marine resources. AUV recycling via visual technology is the primary method. However, the current visual technology is limited by harsh sea conditions and has problems, such as poor tracking and detection. To solve these problems, we propose a long-term target anti-interference tracking (LTAT) method, which integrates Siamese networks, You Only Look Once (YOLO) networks and online learning ideas. Meanwhile, we propose using the cubature Kalman filter (CKF) for optimization and prediction of the position. We constructed a launch and recovery system (LARS) tracking and capturing the AUV. The system consists of the following parts: First, images are acquired via binocular cameras. Next, the relative position between the AUV and the end of the LARS was estimated based on the pixel positions of the tracking AUV feature points and binocular camera data. Finally, using a discrete proportion integration differentiation (PID) method, the LARS is controlled to capture the moving AUV via a CKF-optimized position. To verify the feasibility of our proposed system, we used the robot operating system (ROS) platform and Gazebo software to simulate the system for experiments and visualization. The experiment demonstrates that in the tracking process when the AUV makes a sinusoidal motion with an amplitude of 0.2 m in the three-dimensional space and the relative distance between the AUV and LARS is no more than 1 m, the estimated position error of the AUV does not exceed 0.03 m. In the capturing process, the final capturing error is about 28 mm. Our results verify that our proposed system has high robustness and accuracy, providing the foundation for future AUV recycling research.<\/jats:p>","DOI":"10.3390\/rs15030748","type":"journal-article","created":{"date-parts":[[2023,1,30]],"date-time":"2023-01-30T10:19:28Z","timestamp":1675073968000},"page":"748","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Method for Long-Term Target Anti-Interference Tracking Combining Deep Learning and CKF for LARS Tracking and Capturing"],"prefix":"10.3390","volume":"15","author":[{"given":"Tao","family":"Zou","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3328-4161","authenticated-orcid":false,"given":"Weilun","family":"Situ","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China"},{"name":"Guangdong Institute of Intelligent Unmanned System, Guangzhou 511458, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6725-182X","authenticated-orcid":false,"given":"Wenlin","family":"Yang","sequence":"additional","affiliation":[{"name":"Guangdong Institute of Intelligent Unmanned System, Guangzhou 511458, China"}]},{"given":"Weixiang","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China"},{"name":"Guangdong Institute of Intelligent Unmanned System, Guangzhou 511458, China"}]},{"given":"Yunting","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China"},{"name":"Guangdong Institute of Intelligent Unmanned System, Guangzhou 511458, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,28]]},"reference":[{"key":"ref_1","first-page":"863647","article-title":"Science and Dissemination for the UN Ocean Decade Outcomes: Current Trends and Future Perspectives. Front","volume":"9","author":"Caruso","year":"2022","journal-title":"Mar. Sci"},{"key":"ref_2","unstructured":"Mabus, R. (2016). Autonomous Undersea Vehicle Requirement for 2025, Chief of Naval OPERATIONS Undersea Warfare Directorate."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1109\/MRA.2014.2385561","article-title":"Future trends in marine robotics [tc spotlight]","volume":"22","author":"Zhang","year":"2015","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Zacchini, L., Ridolfi, A., and Allotta, B. (October, January 30). Receding-horizon sampling-based sensor-driven coverage planning strategy for AUV seabed inspections. Proceedings of the 2020 IEEE\/OES Autonomous Underwater Vehicles Symposium (AUV), St. Johns, NL, Canada.","DOI":"10.1109\/AUV50043.2020.9267903"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Mattioli, M., Bernini, T., Massari, G., Lardeux, M., Gower, A., and De Baermaker, S. (2022, January 2\u20135). Unlocking Resident Underwater Inspection Drones or AUV for Subsea Autonomous Inspection: Value Creation between Technical Requirements and Technological Development. Proceedings of the Offshore Technology Conference, Houston, TX, USA.","DOI":"10.4043\/32100-MS"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"112911","DOI":"10.1016\/j.oceaneng.2022.112911","article-title":"Task allocation for Multi-AUV system: A review","volume":"266","author":"Wang","year":"2022","journal-title":"Ocean Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"108235","DOI":"10.1016\/j.oceaneng.2020.108235","article-title":"Energy-saving optimization for spacing configurations of a pair of self-propelled AUV based on hull form uncertainty design","volume":"218","author":"Liang","year":"2020","journal-title":"Ocean Eng."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"775","DOI":"10.1049\/pel2.12268","article-title":"Review of low-loss wireless power transfer methods for autonomous underwater vehicles","volume":"15","author":"Zhang","year":"2022","journal-title":"IET Power Electron."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"28","DOI":"10.4236\/jcc.2017.57003","article-title":"Technology development of unmanned underwater vehicles (UUVs)","volume":"5","author":"Heo","year":"2017","journal-title":"J. Comput. Commun."},{"key":"ref_10","first-page":"1675","article-title":"Review on the Platform Technology of Autonomous Deployment of AUV by USV","volume":"41","author":"Rong","year":"2020","journal-title":"Acta Armamentarii"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.apor.2018.07.014","article-title":"Study on the mechanics characteristics of an underwater towing system for recycling an Autonomous Underwater Vehicle (AUV)","volume":"79","author":"Meng","year":"2018","journal-title":"Appl. Ocean Res."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"290","DOI":"10.1109\/JOE.2018.2867988","article-title":"Launch and recovery of an autonomous underwater vehicle from a station-keeping unmanned surface vehicle","volume":"44","author":"Sarda","year":"2018","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_13","first-page":"37","article-title":"A USV-based automated launch and recovery system for AUVs","volume":"42","author":"Sarda","year":"2016","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Haiting, Z., Haitao, G., Yang, L., Guiqiang, B., and Lingshuai, M. (2018, January 11\u201313). Design and Hydrodynamic Analysis of Towing Device of the Automated Recovery of the AUV by the USV. Proceedings of the 2018 IEEE International Conference on Information and Automation (ICIA), Wuyishan, China.","DOI":"10.1109\/ICInfA.2018.8812367"},{"key":"ref_15","unstructured":"Zhang, G., Tang, G., Huang, D., and Huang, Y. (2022, January 5\u201310). Research on AUV Recovery by Use of Manipulator Based on Vision Servo. Proceedings of the The 32nd International Ocean and Polar Engineering Conference, Shanghai, China."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1134\/S2075108717010059","article-title":"AUV acoustic positioning methods","volume":"8","author":"Kebkal","year":"2017","journal-title":"Gyroscopy Navig."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"246","DOI":"10.1007\/s41315-021-00215-x","article-title":"AUV localisation: A review of passive and active techniques","volume":"6","author":"Maurelli","year":"2022","journal-title":"Int. J. Intell. Robot. Appl."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Wu, Y., Lim, J., and Yang, M.H. (2013, January 15\u201317). Online Object Tracking: A Benchmark. Proceedings of the Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), New York, NY, USA.","DOI":"10.1109\/CVPR.2013.312"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Zhu, Z., Wu, W., Zou, W., and Yan, J. (2018, January 15\u201317). End-to-End Flow Correlation Tracking With Spatial-Temporal Attention. Proceedings of the Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), New York, NY, USA.","DOI":"10.1109\/CVPR.2018.00064"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"108744","DOI":"10.1016\/j.oceaneng.2021.108744","article-title":"Visual navigation and docking for a planar type AUV docking and charging system","volume":"224","author":"Wang","year":"2021","journal-title":"Ocean Eng."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Wu, D., Zhu, H., and Lan, Y. (2022). A Method for Designated Target Anti-Interference Tracking Combining YOLOv5 and SiamRPN for UAV Tracking and Landing Control. Remote Sens., 14.","DOI":"10.3390\/rs14122825"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Pham, M.T., Courtrai, L., Friguet, C., Lef\u00e8vre, S., and Baussard, A. (2020). YOLO-Fine: One-stage detector of small objects under various backgrounds in remote sensing images. Remote Sens., 12.","DOI":"10.3390\/rs12152501"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Liu, S., Xu, H., Lin, Y., and Gao, L. (2019). Visual Navigation for Recovering an AUV by Another AUV in Shallow Water. Sensors, 19.","DOI":"10.3390\/s19081889"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"106624","DOI":"10.1016\/j.oceaneng.2019.106624","article-title":"Study on dynamic docking process and collision problems of captured-rod docking method","volume":"193","author":"Meng","year":"2019","journal-title":"Ocean Eng."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"110509","DOI":"10.1016\/j.oceaneng.2021.110509","article-title":"AUV launch & recovery handling simulation on a rough sea","volume":"246","author":"Szczotka","year":"2022","journal-title":"Ocean Eng."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Li, B., Yan, J., Wu, W., Zhu, Z., and Hu, X. (2018, January 18\u201323). High performance visual tracking with siamese region proposal network. Proceedings of the IEEE conference on computer vision and pattern recognition, Salt Lake City, UT, USA.","DOI":"10.1109\/CVPR.2018.00935"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Chen, X., and He, K. (2021, January 20\u201325). Exploring simple siamese representation learning. Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, Nashville, TN, USA.","DOI":"10.1109\/CVPR46437.2021.01549"},{"key":"ref_28","first-page":"12035","article-title":"Survey of Object Tracking Algorithm Based on Siamese Network","volume":"2203","author":"Zuo","year":"2022","journal-title":"J. Phys."},{"key":"ref_29","unstructured":"Benjumea, A., Teeti, I., Cuzzolin, F., and Bradley, A. (2021). YOLO-Z: Improving small object detection in YOLOv5 for autonomous vehicles. arXiv."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"1066","DOI":"10.1016\/j.procs.2022.01.135","article-title":"A Review of Yolo algorithm developments","volume":"199","author":"Jiang","year":"2022","journal-title":"Procedia Comput. Sci."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"4095","DOI":"10.3390\/rs14164095","article-title":"Dual-View Stereovision-Guided Automatic Inspection System for Overhead Transmission Line Corridor","volume":"14","author":"Zhou","year":"2022","journal-title":"Remote Sens."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"5458","DOI":"10.1109\/TIE.2012.2236994","article-title":"Industrial applications of the Kalman filter: A review","volume":"60","author":"Auger","year":"2013","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Kim, T., and Park, T.H. (2020). Extended Kalman filter (EKF) design for vehicle position tracking using reliability function of radar and lidar. Sensors, 20.","DOI":"10.3390\/s20154126"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"105962","DOI":"10.1016\/j.ijepes.2020.105962","article-title":"A hybrid robust forecasting-aided state estimator considering bimodal Gaussian mixture measurement errors","volume":"120","author":"Jin","year":"2020","journal-title":"Int. J. Electr. Power Energy Syst."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"148","DOI":"10.1016\/j.conengprac.2017.01.004","article-title":"Performance evaluation of nonlinear Kalman filtering techniques in low speed brushless DC motors driven sensor-less positioning systems","volume":"60","author":"Mazaheri","year":"2017","journal-title":"Control Eng. Pract."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"3762","DOI":"10.1016\/j.ifacol.2017.08.478","article-title":"Do the cubature and unscented Kalman filtering methods outperform always the extended Kalman filter?","volume":"50","author":"Kulikov","year":"2017","journal-title":"IFAC-PapersOnLine"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1109\/CMC.2010.239","article-title":"Tracking maneuvering target with angle-only measurements using IMM algorithm based on CKF","volume":"Volume 3","author":"Wan","year":"2010","journal-title":"Proceedings of the 2010 International Conference on Communications and Mobile Computing"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"1254","DOI":"10.1109\/TAC.2009.2019800","article-title":"Cubature kalman filters","volume":"54","author":"Arasaratnam","year":"2009","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"106222","DOI":"10.1016\/j.ymssp.2019.07.003","article-title":"Dual-optimization for a MEMS-INS\/GPS system during GPS outages based on the cubature Kalman filter and neural networks","volume":"133","author":"Shen","year":"2019","journal-title":"Mech. Syst. Signal Process."},{"key":"ref_40","first-page":"254","article-title":"Position Control of 3-DOF Articulated Robot Arm using PID Controller","volume":"7","author":"Naing","year":"2018","journal-title":"Int. J. Sci. Eng. Appl."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Bi, M. (2020). Control of Robot Arm Motion Using Trapezoid Fuzzy Two-Degree-of-Freedom PID Algorithm. Symmetry, 12.","DOI":"10.3390\/sym12040665"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1016\/j.apor.2018.12.012","article-title":"Experimental study of wave loads on a small vehicle in close proximity to a large vessel","volume":"83","author":"Xie","year":"2019","journal-title":"Appl. Ocean Res."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"529","DOI":"10.1016\/j.oceaneng.2004.09.005","article-title":"Wave drift forces and moments on two ships arranged side by side in waves","volume":"32","author":"Kashiwagi","year":"2005","journal-title":"Ocean Eng."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/15\/3\/748\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:17:38Z","timestamp":1760120258000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/15\/3\/748"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,28]]},"references-count":43,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2023,2]]}},"alternative-id":["rs15030748"],"URL":"https:\/\/doi.org\/10.3390\/rs15030748","relation":{},"ISSN":["2072-4292"],"issn-type":[{"value":"2072-4292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1,28]]}}}