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Underwater active vision tracking method applied to bionic robot fish

An active vision and robotic fish technology, applied in instruments, computer parts, computing, etc., can solve the problems of difficult to achieve fast and accurate identification and positioning, the target shape setting is not ideal, and the environmental adaptability needs to be improved. Good performance, regular shape, small amount of calculation

Active Publication Date: 2015-01-21
INST OF AUTOMATION CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

However, in the current underwater active target tracking based on embedded vision, the target shape setting is not ideal, the algorithm complexity is high, the environmental adaptability needs to be improved, and it is difficult to meet the requirements of fast and accurate identification and positioning

Method used

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  • Underwater active vision tracking method applied to bionic robot fish
  • Underwater active vision tracking method applied to bionic robot fish
  • Underwater active vision tracking method applied to bionic robot fish

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Embodiment Construction

[0034] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail in conjunction with specific embodiments and with reference to the accompanying drawings. Although this article may provide an example of a parameter containing a specific value, it should be understood that the parameter need not be exactly equal to the corresponding value, but can be approximated to the value within acceptable error tolerances or design constraints.

[0035] The invention constructs a hardware circuit architecture suitable for active vision of an embedded system, and provides abundant resources to fulfill the task requirements of underwater vision. The built hardware architecture is like Figure 1a Shown include image acquisition unit, ultrasonic sensor and gyroscope, etc., DM3730 main control chip, STM32F407 steering gear control unit, wireless transmission module, upper computer monitoring ...

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Abstract

The invention relates to an underwater active vision tracking method applied to a bionic robot fish, which comprises embedded visual system based active target identification and target positioning. The method comprises the steps of S1, acquiring a digital underwater image by a digital camera; S2, carrying out target identification based on one of color features, shape features and contour features, and acquiring an underwater target region of one of the color features, the shape features and the contour features; and S3, carrying out feature description on the target on the underwater target region of one of the color features, the shape features and the contour features by adopting a weighted color histogram, and realizing positioning for the underwater target according to the target feature description. The underwater active vision tracking method provided by the invention does not need to carry out preprocessing on the image, is small in calculation amount, good in real-time performance, accurate in positioning and applicable to scenes in which system resources are limited and the environment is relatively simple; and the underwater active vision tracking method is also applicable to active vision tracking under different environments and particularly to embedded visual applications on the bionic robot fish.

Description

Technical field [0001] The invention involves the field of embedded visual information processing, especially the underwater active visual tracking method applied to the bionic machine fish. Background technique [0002] Active target tracking based on monocular vision, including target recognition and positioning technology, is a basic problem in the field of computer vision.Active visual tracking in the water environment has greater difficulty compared to the atmospheric environment.This is mainly due to the particularity of the water environment. The lighting in the water environment is full of variables, and the light in the water is uneven. The granules in the water confuse the traditional noise model, the communication between the underwater equipment and the ground monitoring is limited, and so on. [0003] The embedded system, due to its limited system resources, requires target recognition and positioning algorithms to have lower complexity and faster operating speed.Bas...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G06K9/46
CPCG06V10/56G06V2201/07G06F18/29G06V20/05
Inventor 喻俊志孙飞虎陈世峰
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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