Knowledge Commons of Institute of Automation,CAS
Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle | |
Cui, Shaowei1,2; Wang, Yu2; Wang, Shuo2,3,4; Wang, Rui2; Wang, Wei5; Tan, Min2,3 | |
发表期刊 | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY |
ISSN | 0018-9545 |
2020-04-01 | |
卷号 | 69期号:4页码:3783-3792 |
通讯作者 | Wang, Yu(yu.wang@ia.ac.cn) |
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. |
关键词 | Visual system underwater technology underwater object detection |
DOI | 10.1109/TVT.2020.2973656 |
关键词[WOS] | TRACKING ; FEATURES |
收录类别 | SCI |
语种 | 英语 |
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 |
项目资助者 | National Natural Science Foundation of China ; Beijing Science and Technology Project ; Equipment Pre-Research Field Fund ; Youth Innovation Promotion Association CAS |
WOS研究方向 | Engineering ; Telecommunications ; Transportation |
WOS类目 | Engineering, Electrical & Electronic ; Telecommunications ; Transportation Science & Technology |
WOS记录号 | WOS:000530284400023 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 机器人感知与决策 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39453 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
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 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
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. |
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