An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration

doi:10.1109/TIM.2021.3082258

	An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration
	Qiu, Changlin 1,2; Wu, Zhengxing1,2 ; Kong, Shihan1,2 ; Yu, Junzhi1,3
发表期刊	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
ISSN	0018-9456
	2021
卷号	70 页码:13
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	To improve the operation performance of underwater robots, a novel micro cable-driven pan-tilt camera system is developed, which can play an important role in underwater environmental perception and visual measurement. The designed camera system encompasses three parts: a miniature mechanical structure, a real-time target tracking and location module, and an underwater spherical refraction calibration module. Originally, a cable-driven model is adopted to establish a micro and flexible pan-tilt structure, for which the corresponding active target tracking and location algorithms are proposed. More importantly, for eliminating the measurement error caused by the underwater spherical refraction, an advanced nondominated sorting genetic algorithm (NSGA-II)-based underwater calibration algorithm is presented with the aid of the comprehensive geometric spherical refraction model. By integrating the flexible pan-tilt camera and the proposed calibration algorithm, the performance of underwater environmental perception and visual measurement can be greatly improved. Finally, extensive experiments in air and underwater scenarios are conducted. According to the utilized evaluation index, the deviation of target tracking and underwater location errors can be maintained within 0.06 rad and 21 mm, respectively. The proposed vision system sheds light on precise perception and interaction tasks of underwater vehicles.
关键词	Pan-tilt camera target tracking underwater measurement underwater refraction correction
DOI	10.1109/TIM.2021.3082258
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[62033013] ; S&T Program of Hebei[F2020203037]
项目资助者	National Natural Science Foundation of China ; S&T Program of Hebei
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000693603900002
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能机器人
引用统计	被引频次：9[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/173211/45999
专题	复杂系统认知与决策实验室_水下机器人
通讯作者	Yu, Junzhi
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol BIC ES, State Key Lab Turbulence & Complex Syst, Coll Engn,Dept Adv Mfg & Robot, Beijing 100871, 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	Qiu, Changlin,Wu, Zhengxing,Kong, Shihan,et al. An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2021,70:13.
APA	Qiu, Changlin,Wu, Zhengxing,Kong, Shihan,&Yu, Junzhi.(2021).An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,70,13.
MLA	Qiu, Changlin,et al."An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 70(2021):13.