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Vision system is the important equipment for Unmanned Surface Vehicle (USV) to find obstacles and monitor surrounding environment. There are popular calibration methods for vision system used indoor and outdoor on land. However, the USV has to be transported, hoisted and deployed, and calibrated parameters may be changed in the process. Consequently, it is desired to calibrate the vision system in...
Multi-targets tracking has shown great prospects in ocean investigations. In this paper, we apply the adaptive background mixture models to extracts the moving target from the image sequences, and propose a new method which is made use of the EKF and SURF-RANSAC to realize multi-targets tracking via multiple underwater cameras. In this method the centroid coordinate homographic mapping and the Speeded...
Computer vision has become the tool of two-dimensional image recognition and analysis, which mainly means extracting image features. But the problem of robustness and real-time property in complex scenarios makes feature extraction become a challenging task. Visual attention is an important psychological adjustment mechanism in the process of human visual information management, under the guidance...
This paper proposes a solution for recovery of spilled oil on dangerous water area with an Unmanned Surface Vehicle(USV). A Dynamic Inclined Plane Skimmer(DIPS) is placed on the front deck of the USV so that it can run to the destination at high speed. For automatic deployment of the DIPS onto the water, a mechanism consisting of two pillars fixed on each side of the front deck, a portal-type frame...
Perceiving color in water medium is always challenging due to the dense non-uniform attenuation and scattering of light across the visible spectrum. This paper presents a color restoration method for underwater objects based on multispectral images. To begin with, underwater multispectral images are obtained and restored with the influence of attenuation and scattering being eliminated by an in-suit...
Techniques for automating hologram processing, information extraction and construction video based on holographic data are discussed. The method for alive/dead particles identification is suggested. Experimental results are presented.
A set of image processing approaches are proposed for processing digital holographic images of plankton. The images are segmented to produce regions of interest (ROI) of plankton, and then the shape description of plankton is normalized which is invariant under the transformations of translation, scaling, skewing and rotation. Also break points of the normalized shape contour curve are detected and...
Underwater 3D object reconstruction is one of the most essential and fundamental tasks in ocean investigations. In this paper, we try to capture the inherent geometrical variation of 3D objects at multiple visual angels with the underwater vehicles and develop a novel underwater 3D object reconstruction model for the continuous video stream. Image enhancement will be first taken into consideration...
In this paper, we present a simulation environment for marine robotics with support for swarm robotics and environmental monitoring. A vegetation system and fish swarms in the environment model present indirect bio-feedback. This enables the evaluation of swarm behaviors, e.g. to efficiently cover a vegetation area or monitor and chase fish swarms. The temperature sensor in the sensor model has a...
This paper presents a modular designed dynamic positioning (DP) experiment system. Three modules are designed for the DP experiment system, which are onboard computer module, position sensing module and onshore control computer module. The hardware system and software are introduced. A PC/104 computer is used as the main controller of the onboard computer system, and an ARM microcontroller is used...
Autonomous Underwater Vehicle docking technology is now extensively used in the field of underwater. Vision guidance, as one of its core components, shows a great development prospect. In this paper, a brief description of the vision guidance models and the previous algorithm were described. Both the advantages and disadvantages of that algorithm would be analyzed. By using grey-scale feature analysis,...
We present a classification framework to detect underwater terrain deformations commonly caused by marine species in real time during AUV surveys. The method uses two classifiers in a hierarchical manner to overcome the fact that there are no substantial datasets in the literature about underwater terrain and the creation of one would involve a great consumption of human and technological resources...
Towed underwater imaging systems are increasingly used for a wide variety of science applications in the deep ocean. These systems augment data collected by physical sampling such as dredging and trawling, but also provide an important sampling alternative where extractive methods are unnecessary or unsuitable — such as in sensitive habitats or for repeated sampling in marine reserves. Specific applications...
Autonomous underwater vehicles (AUVs) often perform high-resolution survey missions. Such missions are often planned on low resolution bathymetry maps using offline coverage planning methods, e.g., using a standard lawn-mower trajectory that is adapted to the coarse-resolution representation of the terrain. We present in this paper an approach to adapt the exploration online during the mission, namely...
Robust and accurate navigation of underwater vehicles is an essential cornerstone for mission success. Integrative techniques, e.g., using inertial navigation or Doppler velocity logs (DVL), can show significant drift. Even absolute input, such as GNSS input or magnetometers, can either be biased by surrounding structures or very noisy. For good navigation performance in critical maneuvers close to...
In support of ecosystem and fisheries studies, the CSIRO has developed and deployed a variety of towed and tethered acoustic and optical systems to quantify fish biomass and characterize the ecosystem. The most recent of these platforms — the acoustic and optical system (AOS) — was designed to provide both acoustic and imaging data for fisheries studies. When vertically deployed the AOS can provide...
This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given...
Today, in our landscape perception exists a gap that needs to be fulfilled. It's important to increase the coverage, temporal and spatial resolution in order to cover this gap, as well as reduce costs with human resources that usually take this kind of tasks. Unmanned Autonomous vehicles with their inherent autonomy and reduced needs of human and communication resources, can provide additional capabilities...
The requirement of oil has increased the potential hazard of the accidents of the marine oil more evident, which urgently needs human to pay attention to monitoring oil production in order to reduce the economic loss and environmental damage. Although many efforts has been made to develop devices or instruments for marine oil spill monitoring, the droplet processing in micro environment is still not...
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new...
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