Shadow verification-based waterline detection for unmanned surface vehicles deployed in complicated natural environment

doi:10.1177/1729881418818732

IMR OpenIR

	Shadow verification-based waterline detection for unmanned surface vehicles deployed in complicated natural environment
	Wei, Yangjie 1; He, Yuqing 2
通讯作者	Wei, Yangjie(weiyangjie@cse.neu.edu.cn)
	2018-12-27
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN	1729-8814
卷号	15 期号:6 页码:12
摘要	Boundary separation of operational regions would be helpful for unmanned surface vehicles deployed in dynamic outdoor environments. However, the feasibility and accuracy of current obstacle avoidance methods based on conventional optical images are comparatively poor for unmanned surface vehicle applications, with complicated natural illumination as one of the main sources of error. In this article, a new optical waterline detection method is proposed by combining shadow verification and global optimization (energy minimization). The method is then validated using an actual unmanned surface vehicle operating in outdoor environments. First, the basic principles of intrinsic image are introduced and then employed to evaluate the threshold for background segmentation so that the influence of complicated intensity distribution on the original image is reduced. The properties of different types of shadows are compared, and the basic principles of shadow verification are used to classify the different object regions. Subsequently, the intensity contrast between the shadow and non-shadow regions is used to measure the waterline position based on the relationship between the illumination and the shadow formation. Furthermore, the waterline detection problem is transformed into a problem involving the optimization of energy (minimization) described using differential equations. Finally, experiments are conducted with a series of practical images captured by the unmanned surface vehicle. The experimental results demonstrate the feasibility and robustness of the proposed method.
关键词	Unmanned surface vehicles waterline detection shadow verification energy minimization natural environment
资助者	National Key Research and Development Plan ; Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities ; State Key Laboratory of Synthetical Automation for Process Industries
DOI	10.1177/1729881418818732
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Plan[2016YFC0101500] ; Natural Science Foundation of China[61473282] ; Fundamental Research Funds for the Central Universities[N161602002] ; State Key Laboratory of Synthetical Automation for Process Industries
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000454495000001
出版者	SAGE PUBLICATIONS INC
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/131119
专题	中国科学院金属研究所
通讯作者	Wei, Yangjie
作者单位	1.Northeastern Univ, Coll Comp Sci & Engn, Wenhua Str 3, Shenyang 110819, Liaoning, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China
推荐引用方式 GB/T 7714	Wei, Yangjie,He, Yuqing. Shadow verification-based waterline detection for unmanned surface vehicles deployed in complicated natural environment[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(6):12.
APA	Wei, Yangjie,&He, Yuqing.(2018).Shadow verification-based waterline detection for unmanned surface vehicles deployed in complicated natural environment.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(6),12.
MLA	Wei, Yangjie,et al."Shadow verification-based waterline detection for unmanned surface vehicles deployed in complicated natural environment".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.6(2018):12.