| Shadow verification-based waterline detection for unmanned surface vehicles deployed in complicated natural environment | |
| Wei, Yangjie1; He, Yuqing2 | |
| Corresponding Author | Wei, Yangjie(weiyangjie@cse.neu.edu.cn) |
| 2018-12-27 | |
| Source Publication | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| ISSN | 1729-8814 |
| Volume | 15Issue:6Pages:12 |
| Abstract | 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. |
| Keyword | Unmanned surface vehicles waterline detection shadow verification energy minimization natural environment |
| Funding Organization | 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 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | 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 Research Area | Robotics |
| WOS Subject | Robotics |
| WOS ID | WOS:000454495000001 |
| Publisher | SAGE PUBLICATIONS INC |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/131121 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Wei, Yangjie |
| Affiliation | 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 |
| Recommended Citation 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. |
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