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Waterline Separation in Optical Images with Heavy Complicated Shadows
Wei YJ(魏阳杰)1; Duan, Xiaoying1; He YQ(何玉庆)2
作者部门机器人学研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码237-242
收录类别EI ; CPCI(ISTP)
EI收录号20183905873495
WOS记录号WOS:000447628700045
产权排序2
ISBN号978-1-5386-0489-2
关键词Usv Shadow Processing Waterline
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.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22849
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, 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]//IEEE Robotics and Automation Society. New York:IEEE,2017:237-242.
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