Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV

Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Mamoru Minami

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

1 Citation (Scopus)

Abstract

This paper presents the 3D pose estimation against turbidity under dark environment by using dual-eye cameras and an active —meaning light emitting— 3D marker for visual-servoing based underwater vehicle. The authors have proposed a 3D-perception based move on sensing (3D-MoS) system using a 3D position and orientation (pose) estimation method with dual-eye cameras that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." The active/lighting 3D marker was designed and constructed to improve the 3D pose estimation especially in turbidity and low illumination. In real-time pose estimation, not only recognition but also robustness are important. This paper focus on the robustness of 3D pose recognition performance using dual-eye cameras and 3D marker against turbidity. The experimental results have confirmed that the effectiveness and robustness of the proposed system for the real-time 3D pose estimation under turbidity and night condition.

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

Keywords

  • 3D pose estimation
  • Active 3D marker
  • Dual-eye cameras
  • Real-time Multi-step GA
  • Turbidity

ASJC Scopus subject areas

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

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  • Cite this

    Lwin, K. N., Myint, M., Mukada, N., Yamada, D., Matsuno, T., & Minami, M. (2018). Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV. In 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 [8559085] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANSKOBE.2018.8559085