Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7292
Título: Groundtruth system for underwater benchmarking
Autor: Martins, Alfredo
Dias, André
Silva, Hugo Miguel
Almeida, José Miguel
Gonçalves, Pedro
Lopes, Flávio
Faria, André
Ribeiro, João Pedro
Silva, Eduardo
Palavras-chave: Object detection
Oceanographic equipment
Stereo image processing
Underwater equipment
Data: 2013
Editora: IEEE
Relatório da Série N.º: OCEANS;2013
Resumo: In this paper a vision based groundtruth system for underwater applications is presented. The proposed system as an external validation perception and localization mechanism for underwater trials in the INESC TEC / ISEP underwater robotics test tank. It is comprised by a stereo camera pair with external synchronization and a image processing and data recording host computer. The cameras are disposed in a rigid baseline calibrated using scenario key points. Two target detection algorithms were tested and their results are discussed. One is based on template matching techniques allowing the tracking of arbitrary targets without particular markers and the other on color segmentation with the target vehicle equipped with light markers. Also an example trajectory of a small ROV motion in the task is also presented.
Descrição: Oceans - San Diego, 2013
URI: http://hdl.handle.net/10400.22/7292
ISBN: 978-0-933957-40-4
Versão do Editor: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6741307&newsearch=true&queryText=Groundtruth%20system%20for%20underwater%20benchmarking
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