essary control signals to navigate the UUV along the course of the underwater cable.
3. Vision Processing
The location of the target (underwater cable) has to be determined in the image to steer the UUV. Since the image of an underwater cable introduces a linear feature and underwater environment consists of very few defined features, it is possible to recognize the cable in the image by extracting the line features of the image. In this paper, the Hough transformation technique is proposed to extract the line feature of the image[1][2].
In the Hough transformation technique a line, given in Eq. (1) in the image plane (x,y) is transformed
