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

doi:10.1109/TVT.2020.2973656

	Real-Time Perception and Positioning for Creature Picking of an Underwater Vehicle
	Cui, Shaowei1,2 ; Wang, Yu2 ; Wang, Shuo2,3,4 ; Wang, Rui2 ; Wang, Wei 5; 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	被引频次：17[WOS] [WOS记录] [WOS相关记录]
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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Real-Time Perception（2662KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载