Waterline Separation in Optical Images with Heavy Complicated Shadows | |
Wei YJ(魏阳杰)1; Duan, Xiaoying1; He YQ(何玉庆)2 | |
2017 | |
会议日期 | July 31 - August 4, 2017 |
会议地点 | Hawaii, USA |
关键词 | Usv Shadow Processing Waterline |
页码 | 237-242 |
英文摘要 | Accurate waterline separation of the sailing area is the base of unmanned surface vehicle (USV) systems moving in a complicated environment. However, shadows resulted from different natural illumination is one of the main error sources. This paper proposes a waterline separation method based on shadow processing with respect to optical images and presents a practical application to a USV system for validation. First, the basic principles of an intrinsic image is used to reduce the intensity influence of different shadows. Then, segmentation and shadow verification based on shadow analysis were introduced to separate and classify shadow regions. Finally, the problem of waterline separation is transformed into an optimization problem of mathematical energy minimum described by differential equations. In the practical application, the waterlines of many images captured by an USV system moving along an inland river are separated with the proposed method, and the experimental results showed that the proposed algorithm is effective and robust. |
源文献作者 | IEEE Robotics and Automation Society |
产权排序 | 2 |
会议录 | 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 |
会议录出版者 | IEEE |
会议录出版地 | New York |
语种 | 英语 |
ISBN号 | 978-1-5386-0489-2 |
WOS记录号 | WOS:000447628700045 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/22849] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Wei YJ(魏阳杰) |
作者单位 | 1.College of Computer Science and Engineering, Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, CAS, Shenyang Institute of Automation, Shenyang, China |
推荐引用方式 GB/T 7714 | Wei YJ,Duan, Xiaoying,He YQ. Waterline Separation in Optical Images with Heavy Complicated Shadows[C]. 见:. Hawaii, USA. July 31 - August 4, 2017. |
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