Accession Number : AD1046425


Title :   A New Technique for Robot Vision in Autonomous Underwater Vehicles using the Color Shift in Underwater Imaging


Descriptive Note : Technical Report


Corporate Author : Naval Postgraduate School Monterey United States


Personal Author(s) : Jones,Jake A


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1046425.pdf


Report Date : 01 Jun 2017


Pagination or Media Count : 75


Abstract : Developing a technique for underwater robot vision is a key factor in establishing autonomy in underwater vehicles. A new technique is developed and demonstrated to depict an underwater scene in three dimensions (3D) for use in underwater robot vision. This technique uses passive lighting and the optical properties of water to approximate distances between objects in a scene. Beers Law is used to describe the change in intensity that light at different wavelengths experiences as it travels through water. If the intensities can be measured, then Beers Law provides sufficient information to estimate the unknown distance. Applying the equation pixel by pixel to compare two images produces distances from the camera to everything in the image. A shift in color caused by the uneven absorption by each wavelength is similar to comparing the intensities. The color shift produces a relative distance between objects in the scene rather than distances from the camera to the objects. This relative distance may be combined with other techniques to determine the distances from each pixel to the camera.


Descriptors :   robots , vision , UNMANNED UNDERWATER VEHICLES , AUTONOMOUS UNDERWATER VEHICLES , autonomy , optical properties , water , colors


Subject Categories : Marine Engineering
      Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE