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Automatic water line detection for an USV system
Wei YJ(魏阳杰); He YQ(何玉庆)
作者部门机器人学研究室
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码261-266
收录类别EI ; CPCI(ISTP)
EI收录号20164302940174
WOS记录号WOS:000389835200049
产权排序2
ISSN号2379-7711
ISBN号978-1-5090-2732-3
摘要Real-time and accurate detection of the sailing area or water area is an enabling technique for an unmanned surface vehicle (USV) system. However, research on water line detection based on optical images is rare, and current water line detection method is difficult to be used in real application. An automatic water line detection method based on optical images is proposed and validated with a practical USV system. First, the basic principle of structure extraction is introduced to preprocess the original river images so that the textures resulted from the USV motion, wind and illumination is removed; Then, gray level co-occurrence matrix (GLCM) and local binary patterns (LBP) are combined to calculate the texture information of the river images, and a water line detection method is proposed based on the entropy indicator and Hough transformation. Finally, the water lines of many practical images captured by our USV system moving on an inland river are tested with our new proposed detection method. The results show that the proposed algorithm is an effective method for detecting the complicated water lines in real applications.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19300
专题机器人学研究室
通讯作者Wei YJ(魏阳杰)
作者单位1.College of Computer Science and Engineering, Northeastern University, Wenhua Str. 3, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Nanta Str. 114, Shenyang, China
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Wei YJ,He YQ. Automatic water line detection for an USV system[C]. Piscataway, NJ, USA:IEEE,2016:261-266.
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