An Active Contour for Underwater Target Tracking and Navigation
نویسندگان
چکیده
This paper presents a vision based tracking system for routine underwater pipeline or cable inspection for autonomous underwater vehicles (AUV’s). The objective of this research paper is to investigate the issues of pipeline detection, including pose and orientation measurements in underwater environments. The proposed visual tracking system used an active contour method to track underwater object in image sequences. The B-spline based active contour is used to define the underwater pipeline boundaries in image sequence, followed by series of image processing techniques are applied for feature extraction. The active contour deformed based on extracted features. The dynamic curve fitting method is used to measure the pose and orientation of underwater pipeline. To propagate the active contour over image sequence Kalman filtering is used. The Kalman filter updates the state of underwater object. Moreover, it also provides guidance and control to the vehicle when cable or pipeline is fully or partially covered by the sand or marine flora. In order to show the effectiveness of the proposed system, the system is tested on real underwater images. From the experimental results, it is observed that the maximum error is less then 10 pixels which show the robustness of tracking algorithm.
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