ROV - based Underwater Vision System for Intelligent Fish Ethology Research Regular Paper
نویسندگان
چکیده
Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV‐based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition. The underwater vision system can further detect and track swimming fish from the resulting images with the strategies developed using curve evolution and particular filtering, in order to obtain a deeper understanding of fish behaviours. The simulation results have shown the excellent performance of the developed scheme, in regard to both robustness and effectiveness.
منابع مشابه
Single Input Fuzzy Logic Controller for Unmanned Underwater Vehicle
In this paper the investigation of Adaptive Single Input Fuzzy Logic Controller (ASIFLC) as robust control of an Unmanned Underwater Vehicle (UUV). Robust control methods are designed to function properly with a present of uncertain parameters or disturbances. Robust control methods aim to achieve robust performance and stability in the presence of bounded modeling errors. The UUV applied in th...
متن کاملImproving the Operability of Remotely Operated Vehicles
Underwater Remotely Operated Vehicles (ROVs) have a significant support role to play in offshore petroleum production facilities. The extent to which ROVs can replace diver-based operations depends significantly on ROV capacity and the relative costs of mobilising and implementing the two modes of underwater operation. This paper presents work directed at two aspects of ROV operability: the qua...
متن کاملDevelopment and Modeling of Unmanned Underwater Remotely Operated Vehicle Using System Identification for Depth Control
This paper presents the development and modeling of low cost underwater Remotely Operated Vehicle (ROV) for depth control using system identification technique. The ROV was developed by the Underwater Technology Research Group (UTeRG). For Unmanned Underwater Vehicle (UUV), the most crucial issue is the control system. It is needed for the ROV to perform several underwater applications and task...
متن کاملReal-time Vision-based Station Keeping for Underwater Robots
In this paper we describe the design and implementation of a control system for automatic vision-based station keeping with an underwater ROV, relative to some visual landmark. First, a region-based tracking system is described that tracks naturally textured landmarks in the image plane, based upon full planar-projective motion models. The implementation of the algorithm is such that it allows ...
متن کاملControlling the Manipulator of an Underwater ROV Using a Coarse Calibrated Pan Tilt Camera
In this paper we present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maint...
متن کامل