Model based design of a stereo vision system for intelligent deep-sea operations

Łuczyński, Tomasz; Luczynski, Piotr; Pehle, Lukas; Wirsum, Manfred; Birk, Andreas

doi:10.1016/j.measurement.2019.05.004

Cited by 22 publications

(4 citation statements)

References 17 publications

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“…The object used for the experiments here ( Figure 10 ) is a test structure in the form of a mock-up panel for trials in the context of deep-sea oil- and gas-production (OGP) [ 18 ], which was used in the EU project “Effective Dexterous ROV Operations in Presence of Communications Latencies (DexROV)”. In DexROV, the amount of robot operators required offshore (Mediterranean Sea, offshore of Marseille, France) was reduced—hence, reducing cost and inconveniences—by facilitating offshore OPG operations from an onshore control center (in Brussels, Belgium) via a satellite communication link and by reducing the gap between low-level tele-operation and full autonomy, among others by enabling machine perception on-board of the Remotely Operated Vehicle (ROV) itself [ 43 , 44 , 45 , 46 ]. The model of the test structure is in the following experiments in a top-down view, which corresponds to the scenario when the ROV is in the initial approach phase, i.e., when sonar is used to localize the target structure from above.…”

Section: Experiments and Resultsmentioning

confidence: 99%

Synthetic Aperture Sonar (SAS) without Navigation: Scan Registration as Basis for Near Field Synthetic Imaging in 2D

Bülow

Birk

2020

Sensors

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Sonars are essential for underwater sensing as they can operate over extended ranges and in poor visibility conditions. The use of a synthetic aperture is a popular approach to increase the resolution of sonars, i.e., the sonar with its N transducers is positioned at k places to generate a virtual sensor with kN transducers. The state of the art for synthetic aperture sonar (SAS) is strongly coupled to constraints, especially with respect to the trajectory of the placements and the need for good navigation data. In this article, we introduce an approach to SAS using registration of scans from single arrays, i.e., at individual poses of arbitrary trajectories, hence avoiding the need for navigation data of conventional SAS systems. The approach is introduced here for the near field using the coherent phase information of sonar scans. A Delay and Sum (D&S) beamformer (BF) is used, which directly operates on pixel/voxel form on a Cartesian grid supporting the registration. It is shown that this pixel/voxel-based registration and the coherent processing of several scans forming a synthetic aperture yields substantial improvements of the image resolution. The experimental evaluation is done with an advanced simulation tool generating realistic 2D sonar array data, i.e., with simulations of a linear 1D antenna reconstructing 2D images. For the image registration of the raw sonar scans, a robust implementation of a spectral method is presented. Furthermore, analyses with respect to the trajectories of the sensor locations are provided to remedy possible grating lobes due to the gaping positions of the transmitter devices.

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Section: Experiments and Resultsmentioning

confidence: 99%

Synthetic Aperture Sonar (SAS) without Navigation: Scan Registration as Basis for Near Field Synthetic Imaging in 2D

Bülow

Birk

2020

Sensors

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“…Luczynski et al [52] proposed a method for improving stereo imaging hardware for deep sea operations. The method had the computation power for processing onboard stereo vision and also for tasks of computer vision such as inspection, object recognition, mapping, navigation, and intervention.…”

Section: Stereo Imagingmentioning

confidence: 99%

Underwater Image Restoration and Enhancement: A Comprehensive Review of Recent Trends, Challenges, and Applications

Alsakar¹,

Sakr²,

El–Sappagh³

et al. 2023

Preprint

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In recent years, underwater exploration for deep-sea resource utilization and development has a considerable interest. In an underwater environment, the obtained images and videos undergo several types of quality degradation resulting from light absorption and scattering, low contrast, color deviation, blurred details, and nonuniform illumination. Therefore, the restoration and enhancement of degraded images and videos are critical. Numerous techniques of image processing, pattern recognition and computer vision have been proposed for image restoration and enhancement, but many challenges remain. This survey presents a comparison of the most prominent approaches in underwater image processing and analysis. It also discusses an overview of the underwater environment with a broad classification into enhancement and restoration techniques and introduces the main underwater image degradation reasons in addition to the underwater image model. The existing underwater image analysis techniques, methods, datasets, and evaluation metrics are presented in detail. Furthermore, the existing limitations are analyzed, which are classified into image-related and environment-related categories. In addition, the performance is validated on images from the UIEB dataset for qualitative, quantitative, and computational time assessment. Areas in which underwater images have recently been applied are briefly discussed. Finally, recommendations for future research are provided and the conclusion is presented.

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“…Reference [41] presented a stereo vision system for deep-sea operations. The system comprises cameras in pressure bottles that are daisy-chained to a computer bottle.…”

Section: Introductionmentioning

confidence: 99%

Stereo Vision System for Vision-Based Control of Inspection-Class ROVs

Hożyń

Żak

2021

Remote Sensing

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The inspection-class Remotely Operated Vehicles (ROVs) are crucial in underwater inspections. Their prime function is to allow the replacing of humans during risky subaquatic operations. These vehicles gather videos from underwater scenes that are sent online to a human operator who provides control. Furthermore, these videos are used for analysis. This demands an RGB camera operating at a close distance to the observed objects. Thus, to obtain a detailed depiction, the vehicle should move with a constant speed and a measured distance from the bottom. As very few inspection-class ROVs possess navigation systems that facilitate these requirements, this study had the objective of designing a vision-based control method to compensate for this limitation. To this end, a stereo vision system and image-feature matching and tracking techniques were employed. As these tasks are challenging in the underwater environment, we carried out analyses aimed at finding fast and reliable image-processing techniques. The analyses, through a sequence of experiments designed to test effectiveness, were carried out in a swimming pool using a VideoRay Pro 4 vehicle. The results indicate that the method under consideration enables automatic control of the vehicle, given that the image features are present in stereo-pair images as well as in consecutive frames captured by the left camera.

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Model based design of a stereo vision system for intelligent deep-sea operations

Cited by 22 publications

References 17 publications

Synthetic Aperture Sonar (SAS) without Navigation: Scan Registration as Basis for Near Field Synthetic Imaging in 2D

Synthetic Aperture Sonar (SAS) without Navigation: Scan Registration as Basis for Near Field Synthetic Imaging in 2D

Underwater Image Restoration and Enhancement: A Comprehensive Review of Recent Trends, Challenges, and Applications

Stereo Vision System for Vision-Based Control of Inspection-Class ROVs

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