NDLI: Color-based underwater object recognition using water light attenuation

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Color-based underwater object recognition using water light attenuation

Content Provider	Springer Nature Link
Author	Bazeille, Stéphane Quidu, Isabelle Jaulin, Luc
Copyright Year	2012
Abstract	In this article we present a new approach for object recognition in a robotic underwater context. Color is an attractive feature because of its simplicity and its robustness to scale changes, object positions and partial occlusions. Unfortunately, in the underwater medium, the colors are modified by attenuation and are not constant with the distance. To perform a color-based recognition of an object, we develop an algorithm robust with respect to the attenuation which takes into account the light modification during its path between the light source and the camera. Therefore, a given underwater object can be identified in an image by detecting all the colors compatible with its prior known color. Our method is fast, robust and needs a very few computers resources. We successfully used it when experimenting in the sea using a system we built. It is suitable for robotic applications where computers resources are limited and shared between various embedded devices. This novel concept enables the use of the color in many applications such as target interception, object tracking or obstacle detection.
Starting Page	109
Ending Page	118
Page Count	10
File Format	PDF
ISSN	18612776
Journal	Intelligent Service Robotics
Volume Number	5
Issue Number	2
e-ISSN	18612784
Language	English
Publisher	Springer-Verlag
Publisher Date	2012-01-18
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Vision Color Light attenuation Underwater robot User Interfaces and Human Computer Interaction Artificial Intelligence (incl. Robotics) Vibration, Dynamical Systems, Control Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Mechanical Engineering Computational Mechanics

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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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