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Noise and non-uniform gray level in underwater image cause the low segment precision, this paper presents a segmentation framework based on morphological component analysis (MCA) and fuzzy clustering with variational level set. The framework uses MCA method to sparse decompose the image into texture and cartoon parts. The cartoon part contains the mainly information with less noise, which is good...
Underwater image contains a lot of noise and non uniform gray levels. That characteristic causes the image has a low segmentation precision. A segmentation method based on morphological component analysis (MCA) and adaptive level set evolution is proposed in this paper to enhance the precision. MCA method is used to sparse decompose the image into texture and cartoon parts. The cartoon part contains...
An underwater terrain navigation method based on Bayesian estimation is proposed for autonomous underwater vehicle (AUV), according to the depths measured by multi-beam echo sounder (MBES). For the shortage of false peak increasing intensely at low characteristic area of this method, the Fisher criterion is introduced. This method effectively reduces the false peaks, enhances the discrimination of...
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Momentum theorem was used to establish the model of the water-jet propulsion...
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Besides MFC frame, Creator and Vega were adopted. Maneuvering simulation...
An efficient, adaptive Kalman filter is presented based on heuristic reduction of MEMS inertial measurement unit drift, which can detect the failure of GPS, and reduce the drift of MEMS inertial measurement unit. The method applies in GPS/DR integrated navigation system, which pertains to the reduction of measurement errors in gyroscopes and accelerations used for tracking the position of vehicle...
Under the influence of the lighting condition and some character of water media, the underwater images have low contrast, unbalance gray scales, fuzzy edge of objects and large quantity of noise which will appear with the movement of vehicle. For the mentioned above factors, when traditional methods are used to dispose underwater images, the regions of objects can’t be located exactly, details of...
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