Knowledge Commons of Institute of Automation,CAS
Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping | |
Wang, Yu1; Tang, Chong1; Cai, Mingxue1; Yin, Jiye2; Wang, Shuo1,3,4; Cheng, Long1; Wang, Rui1; Tan, Min1,3 | |
发表期刊 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT |
ISSN | 0018-9456 |
2021 | |
卷号 | 70页码:11 |
通讯作者 | Cai, Mingxue(caimingxue2017@ia.ac.cn) |
摘要 | In this study, a real-time underwater onboard vision sensing system is developed for robotic gripping. First, an efficient image enhancement method based on the Retinex theory is presented. The enhanced images are provided for underwater robot to observe the seabed environment clearly via cameras. Subsequently, a real-time lightweight object detector (RLOD) for the mobile embedded platform is proposed. The RLOD is designed as an hourglass detector network, which introduces dense connections and a featured pyramid network to improve the detection performance and speed. Moreover, from an engineering perspective, two merging methods are used to deploy the trained network. It can be implemented at 11.11 frames per second (FPS) on the Nvidia Jetson TX2 processor, satisfying the real-time requirement of underwater robotic gripping. Furthermore, a refraction tracing model is constructed. The comparative results show the effectiveness of the proposed methods. Finally, this onboard vision sensing system is mounted on an underwater robot with a manipulator to implement robotic gripping. Pool and sea experiments are conducted to verify the practicability of the developed system. |
关键词 | Real-time underwater vision sensing system underwater object detection underwater robotic gripping underwater robots |
DOI | 10.1109/TIM.2020.3028400 |
关键词[WOS] | CALIBRATION ; TRACKING ; RETINEX ; IMAGES |
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] ; National Natural Science Foundation of China[62073316] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Youth Innovation Promotion Association CAS |
项目资助者 | National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS |
WOS研究方向 | Engineering ; Instruments & Instrumentation |
WOS类目 | Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:000594910700022 |
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/173211/42765 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Cai, Mingxue |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, 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 | Wang, Yu,Tang, Chong,Cai, Mingxue,et al. Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2021,70:11. |
APA | Wang, Yu.,Tang, Chong.,Cai, Mingxue.,Yin, Jiye.,Wang, Shuo.,...&Tan, Min.(2021).Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,70,11. |
MLA | Wang, Yu,et al."Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 70(2021):11. |
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