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

doi:10.1109/TVT.2020.2973656

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle
	Cui, Shaowei 4,5; Wang, Yu 5; Wang, Shuo 2,3,5; Wang, Rui 5; Wang, Wei 1; Tan, Min 2,5
刊名	IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
	2020-04-01
卷号	69 期号:4 页码:3783-3792
关键词	Visual system underwater technology underwater object detection
ISSN号	0018-9545
DOI	10.1109/TVT.2020.2973656
通讯作者	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.
资助项目	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
WOS关键词	TRACKING ; FEATURES
WOS研究方向	Engineering ; Telecommunications ; Transportation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000530284400023
资助机构	National Natural Science Foundation of China ; Beijing Science and Technology Project ; Equipment Pre-Research Field Fund ; Youth Innovation Promotion Association CAS
内容类型	期刊论文
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.Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 4.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, 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[J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,2020,69(4):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.