Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping

doi:10.1109/TIM.2020.3028400

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping
	Wang, Yu 1; Tang, Chong 1; Cai, Mingxue 1; Yin, Jiye 2; Wang, Shuo 1,3,4; Cheng, Long 1; Wang, Rui 1; Tan, Min 1,3
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2021
卷号	70 页码:11
关键词	Real-time underwater vision sensing system underwater object detection underwater robotic gripping underwater robots
ISSN号	0018-9456
DOI	10.1109/TIM.2020.3028400
通讯作者	Cai, Mingxue(caimingxue2017@ia.ac.cn)
英文摘要	In this study, a real-time underwater onboard vision sensing system is developed for robotic gripping. First, an efficient image enhancement method based on the Retinex theory is presented. The enhanced images are provided for underwater robot to observe the seabed environment clearly via cameras. Subsequently, a real-time lightweight object detector (RLOD) for the mobile embedded platform is proposed. The RLOD is designed as an hourglass detector network, which introduces dense connections and a featured pyramid network to improve the detection performance and speed. Moreover, from an engineering perspective, two merging methods are used to deploy the trained network. It can be implemented at 11.11 frames per second (FPS) on the Nvidia Jetson TX2 processor, satisfying the real-time requirement of underwater robotic gripping. Furthermore, a refraction tracing model is constructed. The comparative results show the effectiveness of the proposed methods. Finally, this onboard vision sensing system is mounted on an underwater robot with a manipulator to implement robotic gripping. Pool and sea experiments are conducted to verify the practicability of the developed system.
资助项目	National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[62073316] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Youth Innovation Promotion Association CAS
WOS关键词	CALIBRATION ; TRACKING ; RETINEX ; IMAGES
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000594910700022
资助机构	National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42764]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cai, Mingxue
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
推荐引用方式 GB/T 7714	Wang, Yu,Tang, Chong,Cai, Mingxue,et al. Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2021,70:11.
APA	Wang, Yu.,Tang, Chong.,Cai, Mingxue.,Yin, Jiye.,Wang, Shuo.,...&Tan, Min.(2021).Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,70,11.
MLA	Wang, Yu,et al."Real-Time Underwater Onboard Vision Sensing System for Robotic Gripping".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 70(2021):11.