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

文献类型：期刊论文

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作者Cui, Shaowei1,2; Wang, Yu2; Wang, Shuo2,3,4; Wang, Rui2; Wang, Wei5; Tan, Min2,3
刊名IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY ; IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
出版日期2020-04-01 ; 2020-04-01
卷号69期号:4页码:3783-3792
关键词Visual system Visual system underwater technology underwater object detection underwater technology underwater object detection
ISSN号0018-9545 ; 0018-9545
DOI10.1109/TVT.2020.2973656 ; 10.1109/TVT.2020.2973656
通讯作者Wang, Yu(yu.wang@ia.ac.cn) ; Wang, Yu(yu.wang@ia.ac.cn)
英文摘要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.; 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.
WOS关键词TRACKING ; TRACKING ; FEATURES ; FEATURES
资助项目National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; Beijing Science and Technology Project[Z181100003118006] ; Equipment Pre-Research Field Fund[61403120407] ; Youth Innovation Promotion Association CAS ; National Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; Beijing Science and Technology Project[Z181100003118006] ; Equipment Pre-Research Field Fund[61403120407] ; Youth Innovation Promotion Association CAS
WOS研究方向Engineering ; Engineering ; Telecommunications ; Transportation ; Telecommunications ; Transportation
语种英语 ; 英语
WOS记录号WOS:000530284400023 ; WOS:000530284400023
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ; IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; National Natural Science Foundation of China ; Beijing Science and Technology Project ; Equipment Pre-Research Field Fund ; Youth Innovation Promotion Association CAS ; Beijing Science and Technology Project ; Equipment Pre-Research Field Fund ; Youth Innovation Promotion Association CAS
源URL[http://ir.ia.ac.cn/handle/173211/39452]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Wang, Yu
作者单位1.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
4.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
5.Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
推荐引用方式
GB/T 7714		 Cui, Shaowei,Wang, Yu,Wang, Shuo,et al. Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle, Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle[J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,2020, 2020,69, 69(4):3783-3792, 3783-3792.
APA Cui, Shaowei,Wang, Yu,Wang, Shuo,Wang, Rui,Wang, Wei,&Tan, Min.(2020).Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle.IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,69(4),3783-3792.
MLA Cui, Shaowei,et al."Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle".IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 69.4(2020):3783-3792.

入库方式： OAI收割

来源：自动化研究所

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