Pubblicazione scientifica

Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle

FILONE TECNOLOGICO	TEMA
economia circolare e sostenibilità

RIASSUNTO

This study addresses the ability of an underwater vehicle-manipulator system (UVMS) to perceive submarine creatures in the complex undersea environment. A real-time system for Submarine Creature Perception and Positioning (SCPP) based on a binocular vision system is proposed. In particular, we adopt a new Four-Corner Neighborhood Matching Method (FCNMM) to obtain specific target positions. A Fusion Correction Mechanism (FCM) is added to the Kernelized correlation filter (KCF) tracking algorithm to improve tracking performance. Furthermore, SCPP is applied in our UVMS platform to perform seafloor creature picking at the Zhangzidao seafood farm in Dalian, China. The experimental results show the feasibility and robustness of the SCPP system.

DATA

Data di pubblicazione: 12/02/2020

AUTORI

SHAOWEI CUI
YU WANG
SHUO WANG
RUI WANG
WEI WANG
MIN TAN

ENTE DI AFFERENZA

SCHOOL OF FUTURE TECH UNIV CHINESE ACAD SCIENCES BEIJING CHINA
STATE KEY LAB
SCHOOL OF CTRL SCIENCE & ENG SHANDONG UNIV JINAN PR CHINA

RIVISTA

IEEE Transactions on Vehicular Technology (Volume: 69, Issue: 4, Page(s): 3783-3792)

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