NDLI: A vision-based interactive system for underwater robots

Content Provider	IEEE Xplore Digital Library
Author	Balasuriya, B.A.A.P. Fujii, T. Ura, T.
Copyright Year	1995
Description	Author affiliation: Inst. of Ind. Sci., Tokyo Univ., Japan (Balasuriya, B.A.A.P.)
Abstract	A vision based system is developed for interaction between the man-robot unit and robot-robot unit in underwater environments. Vision is the communicating medium between the agents. The image consists of an ON/OFF light pattern produced by a set of electro-luminescent panels, representing a particular command. The vision system introduced in this paper recognizes these patterns under the defined environmental conditions. In the image processing system the Hough transform is performed with the Sobel operator to extract important features of the image. The decision making time of this system is approximately 1 sec on a transputer based hardware, which is equivalent to the CPU system on the testbed robot, "The Twin-Burger". This decision making time is acceptable for slowly moving underwater robots. In order to track the region of interest, the vision system calculates the pan and tilt angles of the CCD camera. The system is tested for different situations underwater as well as in air.
Starting Page	561
Ending Page	566
File Size	547234
Page Count	6
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.526272
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Interactive systems Robot vision systems Machine vision Decision making System testing Pattern recognition Image processing Feature extraction Hardware Underwater tracking
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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