Development and evaluation of active/lighting marker in turbidity and illumination variation environments

Yoshiki Kanda, Naoki Mukada, Daiki Yamada, Khin Lwin, Myo Myint, Kohei Yamashita, Sho Nakamura, Takayuki Matsuno, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

To extend the persistence time of an underwater operation of AUVs in tlie sea, many studies Iiave been performed worldwide. Tlie docking function takes place as an important role not only for battery recharging but also for other advanced applications. Therefore, we developed the visual-servoing-based underwater vehicle using 3D perception based move on sensing (3D-MoS) system with dual-eye cameras and 3D marker for the docking operation. The vision-based underwater vehicle cannot avoid the turbidity and low illumination in the deep sea. In the present study, the active/lighting marker was newly designed and constructed to improve the recognizing ability of the proposed system for the real-time 3D pose estimation. The experiments were conducted in a simulated pool against different turbidity levels and illumination variations by adjusting the LED's brightness of the active marker in both day and night environments. This paper presents the analyses on the relations of the currents of LED installed inside each ball of the 3D marker and recognition results under turbidity and changing illumination conditions. According to the experimental results, the optimum current was chosen for the docking.

Original languageEnglish
Title of host publication2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538616543
DOIs
Publication statusPublished - Dec 4 2018
Event2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan
Duration: May 28 2018May 31 2018

Other

Other2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
CountryJapan
CityKobe
Period5/28/185/31/18

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Keywords

  • Active/Lightmg 3D marker
  • Dlumination variation
  • LED's current
  • Pose
  • Pose estimation
  • Türbidity

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Oceanography
  • Space and Planetary Science
  • Energy Engineering and Power Technology
  • Ocean Engineering
  • Acoustics and Ultrasonics
  • Instrumentation

Cite this

Kanda, Y., Mukada, N., Yamada, D., Lwin, K., Myint, M., Yamashita, K., Nakamura, S., Matsuno, T., & Minami, M. (2018). Development and evaluation of active/lighting marker in turbidity and illumination variation environments. In 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 [8559070] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANSKOBE.2018.8559070