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An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration

文献类型：期刊论文

作者Qiu, Changlin1,2; Wu, Zhengxing1,2; Kong, Shihan1,2; Yu, Junzhi1,3
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2021
卷号70页码:13
ISSN号0018-9456
关键词Pan-tilt camera target tracking underwater measurement underwater refraction correction
DOI10.1109/TIM.2021.3082258
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要To improve the operation performance of underwater robots, a novel micro cable-driven pan-tilt camera system is developed, which can play an important role in underwater environmental perception and visual measurement. The designed camera system encompasses three parts: a miniature mechanical structure, a real-time target tracking and location module, and an underwater spherical refraction calibration module. Originally, a cable-driven model is adopted to establish a micro and flexible pan-tilt structure, for which the corresponding active target tracking and location algorithms are proposed. More importantly, for eliminating the measurement error caused by the underwater spherical refraction, an advanced nondominated sorting genetic algorithm (NSGA-II)-based underwater calibration algorithm is presented with the aid of the comprehensive geometric spherical refraction model. By integrating the flexible pan-tilt camera and the proposed calibration algorithm, the performance of underwater environmental perception and visual measurement can be greatly improved. Finally, extensive experiments in air and underwater scenarios are conducted. According to the utilized evaluation index, the deviation of target tracking and underwater location errors can be maintained within 0.06 rad and 21 mm, respectively. The proposed vision system sheds light on precise perception and interaction tasks of underwater vehicles.
资助项目National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[62033013] ; S&T Program of Hebei[F2020203037]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000693603900002
资助机构National Natural Science Foundation of China ; S&T Program of Hebei
源URL[http://ir.ia.ac.cn/handle/173211/45998]  
专题复杂系统管理与控制国家重点实验室_水下机器人
通讯作者Yu, Junzhi
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol BIC ES, State Key Lab Turbulence & Complex Syst, Coll Engn,Dept Adv Mfg & Robot, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714		 Qiu, Changlin,Wu, Zhengxing,Kong, Shihan,et al. An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2021,70:13.
APA Qiu, Changlin,Wu, Zhengxing,Kong, Shihan,&Yu, Junzhi.(2021).An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,70,13.
MLA Qiu, Changlin,et al."An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 70(2021):13.

入库方式： OAI收割

来源：自动化研究所

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