[falconmaster]

Found this on optical mouse, we are basically trying to use our AUV as a mouse in a pool.

Modern surface-independent optical mice work by using an optoelectronic sensor (essentially, a tiny low-resolution video camera) to take successive images of the surface on which the mouse operates. As computing power grew cheaper, it became possible to embed more powerful special-purpose image-processing chips in the mouse itself. This advance enabled the mouse to detect relative motion on a wide variety of surfaces, translating the movement of the mouse into the movement of the cursor and eliminating the need for a special mouse-pad.
The first commercially successful optical computer mice were the Microsoft IntelliMouse with IntelliEye and IntelliMouse Explorer, introduced in 1999 using technology developed by Hewlett-Packard.[9] It worked on almost any surface, and represented a welcome improvement over mechanical mice, which would pick up dirt, track capriciously, invite rough handling, and need to be taken apart and cleaned frequently. Other manufacturers soon followed Microsoft’s lead using components manufactured by the HP spin-off Agilent Technologies, and over the next several years mechanical mice became obsolete.
The technology underlying the modern optical computer mouse is known as digital image correlation, a technology pioneered by the defense industry for tracking military targets. Optical mice use image sensors to image naturally occurring texture in materials such as wood, cloth, mouse pads and Formica. These surfaces, when lit at a grazing angle by a light emitting diode, cast distinct shadows that resemble a hilly terrain lit at sunset. Images of these surfaces are captured in continuous succession and compared with each other to determine how far the mouse has moved.
To understand how optical mice work, imagine two photographs of the same object except slightly offset from each other. Place both photographs on a light table to make them transparent, and slide one across the other until their images line up. The amount that the edges of one photograph overhang the other represents the offset between the images, and in the case of an optical computer mouse the distance it has moved.
Optical mice capture one thousand successive images or more per second. Depending on how fast the mouse is moving, each image will be offset from the previous one by a fraction of a pixel or as many as several pixels. Optical mice mathematically process these images using cross correlation to calculate how much each successive image is offset from the previous one.
An optical mouse might use an image sensor having an 18 × 18 pixel array of monochromatic pixels. Its sensor would normally share the same ASIC as that used for storing and processing the images. One refinement would be accelerating the correlation process by using information from previous motions, and another refinement would be preventing deadbands when moving slowly by adding interpolation or frame-skipping.
The invention of the modern optical mouse at HP was made more likely by a succession of related projects during the 1990s at its central research laboratory. In 1992 John Ertel, William Holland, Kent Vincent, Rueiming Jamp and Richard Baldwin were awarded US Patent 5,149,980 for measuring paper advance in a printer by correlating images of paper fibers. In 1998 Travis N. Blalock, Richard A. Baumgartner, Thomas Hornak, Mark T. Smith, and Barclay J. Tullis were awarded US Patent 5,729,008 for tracking motion in a hand-held scanner by correlating images of paper fibers and document features, a technology commercialized in 1998 with the HP 920 Capshare handheld scanner. In 2002 Gary Gordon, Derek Knee, Rajeev Badyal and Jason Hartlove were awarded US Patent 6,433,780 for the modern optical computer mouse using image correlation.

Does anybody have the code for a mouse?