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Generally, underwater hull inspection have been conducted by human divers. It is an extremely dangerous task, and hence, can be a potential application for unmanned underwater vehicles. The operational safety and performance of in-water inspection can be significantly improved by introducing unmanned vehicle systems. This study addresses the development of an hover-capable autonomous underwater vehicle...
A common approach for developing robotic systems leverages separate simulation and control softwares. Although this approach requires minimal coordination and orchestration between softwares, the separation of simulation and control applications presents the designer with unnecessary challenges during development. This paper describes the Autonomous Robot Control and Simulation (ARCS) software, a...
The recognition of places by using visual information in underwater environments is important when performing autonomous robotic exploration of the same area at different periods of time. It helps the robot to know its location and take decisions accordingly. However, vision-based recognition of underwater places can be a very challenging task due to the inherent properties of this kind of places...
Underwater image formation is degraded by several factors, which causes the ocean to be a challenging environment for image processing. This paper aims to improve the visual servoing capability of an autonomous underwater vehicle by using pre-processing algorithms to improve the image quality. We used artificial fiducial markers to feed the visual controller. Therefore, three different methods for...
There is a possibility that vast amounts of undersea resources are buried beneath Japanese territorial sea. In order to find these undersea resources, a detailed topography including specific objects and events of seabed should be carefully surveyed. One of effective methods for this is to use seabed visualization technologies, which are applied to an autonomous underwater vehicle (AUV). Therefore,...
The authors have been working on support of coastal fishing utilizing ICT since 2004. We have realized two visualizations for the sustainable fishery until now. One is visualization of resources for capture fishing using digital diary and the other is visualization of environment for culture fishing using small buoys. In this paper, we propose the visualization of technology for octopus drift fishing...
Underwater obstacle detection is essential for safe deployment of autonomous underwater vehicles (AUVs). In this paper, we make an attempt to explore one kind of underwater obstacle detection strategy with the help of the Relative Total Variation(RTV) and Joint Guided Filtering(JGF). We first introduce one kind of virtual retinex model. Then we utilize the Relative Total Variation to extract the essential...
Augmented reality (AR) is an emerging technology that superimposes digital information directly on top of a user's real world view. AR may have great potential for aiding safe marine navigation, however the devices currently available have significant limitations that prevent them from being practical for marine usage. While suitable devices are still a few years away from the market, we propose that...
Brain-computer interface (BCI) has been used as a communication tool to enable paralyzed people to interact with the world. Its application has been extended to other non-medical areas like self-regulation, marketing, games and entertainment. Conventionally, BCI largely relies on the visual perception channel to provide users with cues or stimuli for the generation of appropriate brain signals that...
This paper presents a performance comparison of several state-of-the-art visual feature extraction algorithms when applied in a poorly-structured environment as found on the planet Mars. So far, no systematic evaluation of feature extraction algorithms in extraterrestrial environments is available. The algorithms in this paper are evaluated using the Devon Island dataset which is said to have one...
Image search engines commonly employ the Bag Of Features (BOF) method to represent each database image with a feature vector and retrieve the best candidate using a measure of similarity to a query image vector. The BOF vector, which specifies the occurrence frequency of features, is used with Soft Assignment (SA) to find the most similar candidates which are further analyzed using geometric information...
Text is the easiest means to record information but need not always be the best means for understanding a concept. In psychological theories, it is argued that when information is presented visually, it provides a better means to understand a concept. While techniques exist for generating text from a given image, the inverse problem that is to automatically fetch coherent images to represent a given...
Motor imagery (MI) based on brain computer interfaces (BCIs) have been widely applied for upper limb motor rehabilitation. Due to the fact that a large number of disabled people need to restore or improve walking ability, it is also important to investigate the use of MI-based BCIs for lower limb motor rehabilitation. The brain activity of lower limb MI is more difficult to detect because of low reliability...
Omnidirectional, also referred to as 360º, visual content provides an immersive experience since it allows users to view a visual scene from different directions. The overall content typically covers a full sphere, and omnidirectional videos or images are processed to obtain a projection on a 2D plane of a fraction of the sphere (aka viewport), which is shown to the user. Therefore, users can look...
This paper demonstrates the usage of Kvazaar open-source HEVC intra encoder in 4K real-time video encoding. In this setup, a raw 4K video is shot by an action camera, captured by an HDMI capture card, encoded in real-time by Kvazaar ultrafast preset on a 22-core Intel Xeon processor, sent to a laptop, and decoded by OpenHEVC decoder for playback. The encoding process is visualized on the fly by Kvazaar...
Films seek to elicit emotions in viewers by infusing the story they tell with an affective character or tone - in a word, a mood. In content-based multimedia analysis, considerable effort has been made to develop methods to estimate film affect computationally. However, results have been hampered by a tendency to classify film scenes either by genre or not at all, while other potentially helpful classification...
Kotenseki is a collection of classical and ancient Japanese literature. It is comprised of image books that express Japanese stories by using comic drawings of different characters, such as humans, nature, and animals. To effectively store them for posterity, a search system is important. We propose an efficient CBIR system to assist the users in easily accessing the information and have an enjoyable...
In this paper, we propose a method for image selection using Web image search for automatic video biography authoring. In the proposed method, images are selected from the image search results considering their visual contents for inclusion in the video biography. Through evaluation, we confirmed the effectiveness of the proposed image selection method compared to a baseline method which simply selects...
Venue photos, as a new type of multimedia contents, are exploding on the Internet because users like to take photos and share with their friends in which venue they spent time and what impressed them there. Discovering a venue by a social photo is very useful for supplementing venue retrieval and recommendation. However, little research focused on fine-grained venue discovery by leveraging multimodal...
SIFT flow adopts SIFT descriptor to find correspondence between two images. However, SIFT flow is not robust to scale and rotation for dense corresponding matching. In this paper, we propose moment-based dense correspondence matching which is robust to image variation. First, we apply Zernike moments to SIFT descriptor, i.e. Moments of Gradients (MoG). Then, we combine SIFT flow with MoG for dense...
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