Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking

Kohei Yamashita, Hsu Horng Yi, Daiki Yamada, Naoki Mukada, Khin New Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

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

Abstract

Disturbances of turbidity and low illuminance are problems in real sea areas when recognizing objects with cameras. Therefore, the recognition target was made to emit light so that it can be recognized correctly even in that environment. However, a suitable light intensity of the target was not decided and it is obvious that recognition results was changed by light intensity of the target. This paper presents the analysis of recognition accuracy of the Real-time 3D estimation system by changing the current value of each color LED (red, green, blue) under turbid and low illuminance. Recognition experiments were conducted at the distance 600 [mm] between the ROV and 3D marker. The turbidity level was set constant value. The current value was changing from 0 [mA] to 16 [mA] for each LED individually. The best current for each LED was optimized by the fitness value and estimation value of position and orientation. The results showed that the recognition accuracy of the proposed system was improved by using optimized lighting intensity.

Original languageEnglish
Title of host publicationOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538648148
DOIs
Publication statusPublished - Jan 7 2019
EventOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States
Duration: Oct 22 2018Oct 25 2018

Publication series

NameOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Conference

ConferenceOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
CountryUnited States
CityCharleston
Period10/22/1810/25/18

Fingerprint

autonomous underwater vehicle
Light emitting diodes
Turbidity
Remotely operated vehicles
light intensity
turbidity
Lighting
Cameras
remotely operated vehicle
Color
fitness
marker
disturbance
Experiments
experiment

Keywords

  • Active/Lighting 3D marker
  • LED's current value
  • Pose Estimation
  • Turbidity

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Oceanography

Cite this

Yamashita, K., Yi, H. H., Yamada, D., Mukada, N., Lwin, K. N., Myint, M., ... Minami, M. (2019). Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking. In OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018 [8604867] (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANS.2018.8604867

Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking. / Yamashita, Kohei; Yi, Hsu Horng; Yamada, Daiki; Mukada, Naoki; Lwin, Khin New; Myint, Myo; Toda, Yuichiro; Matsuno, Takayuki; Minami, Mamoru.

OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8604867 (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).

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

Yamashita, K, Yi, HH, Yamada, D, Mukada, N, Lwin, KN, Myint, M, Toda, Y, Matsuno, T & Minami, M 2019, Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking. in OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018., 8604867, OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018, Institute of Electrical and Electronics Engineers Inc., OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018, Charleston, United States, 10/22/18. https://doi.org/10.1109/OCEANS.2018.8604867
Yamashita K, Yi HH, Yamada D, Mukada N, Lwin KN, Myint M et al. Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking. In OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8604867. (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018). https://doi.org/10.1109/OCEANS.2018.8604867
Yamashita, Kohei ; Yi, Hsu Horng ; Yamada, Daiki ; Mukada, Naoki ; Lwin, Khin New ; Myint, Myo ; Toda, Yuichiro ; Matsuno, Takayuki ; Minami, Mamoru. / Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking. OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).
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