An adaptive and online underwater image processing algorithm implemented on miniature biomimetic robotic fish

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	An adaptive and online underwater image processing algorithm implemented on miniature biomimetic robotic fish
	Wang, Wei ; Xie, Guangming
	2014
英文摘要	This paper proposes a novel underwater image processing approach for different targets detection and preliminary positioning of a miniature robotic fish with low computational resources. A key aspect of our approach is that the image processing algorithm is performed online, i.e., while swimming, rather than as an offline process. Another key aspect is that the algorithm distinguishes the targets adaptively within large distance range. Specifically, considering the poor quality of underwater image as well as the low computational resources of the robot, a real-time image preprocessing algorithm, named accelerated automatic color equalization(AACE) model, is first adopted to improve color contrasts and sharpness of borders of the image. Further, HSV-based adaptive threshold segmentation, lump detection, reflection elimination and landmark matching are executed successively in a robust way for locating the target and calculating the distance between the robot and target. A series of relevant experiments with the robotic fish are conducted systematically to demonstrate that the proposed image processing approach is adaptive, efficient and real-time for online applications of the vision-based miniature swimming robots. ? IFAC.; EI; 7598-7603; 19
会议录	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/423818]
专题	工学院
推荐引用方式 GB/T 7714	Wang, Wei,Xie, Guangming. An adaptive and online underwater image processing algorithm implemented on miniature biomimetic robotic fish[C]. 见:.