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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
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages237-242
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873495
WOS IDWOS:000447628700045
Contribution Rank2
ISBN978-1-5386-0489-2
KeywordUsv Shadow Processing Waterline
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22849
Collection机器人学研究室
Corresponding AuthorWei YJ(魏阳杰)
Affiliation1.College of Computer Science and Engineering, Northeastern University, Shenyang, China
2.State Key Laboratory of Robotics, CAS, Shenyang Institute of Automation, Shenyang, China
Recommended Citation
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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