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

Fingerprint

Visual servoing
autonomous underwater vehicle
turbidity
Turbidity
markers
illuminating
Lighting
Cameras
cameras
underwater vehicles
underwater vehicle
estimation method
genetic algorithms
genetic algorithm
night
illumination
marker
lighting
Genetic algorithms

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

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

Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV. / Lwin, Khin Nwe; Myint, Myo; Mukada, Naoki; Yamada, Daiki; Matsuno, Takayuki; Minami, Mamoru.

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 8559085.

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

Lwin, KN, 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., 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018, Kobe, Japan, 5/28/18. https://doi.org/10.1109/OCEANSKOBE.2018.8559085
Lwin KN, Myint M, Mukada N, Yamada D, Matsuno T, Minami M. 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. Institute of Electrical and Electronics Engineers Inc. 2018. 8559085 https://doi.org/10.1109/OCEANSKOBE.2018.8559085
Lwin, Khin Nwe ; Myint, Myo ; Mukada, Naoki ; Yamada, Daiki ; Matsuno, Takayuki ; Minami, Mamoru. / Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV. 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. Institute of Electrical and Electronics Engineers Inc., 2018.
@inproceedings{3be0ada6431c4466aaf612235d349937,
title = "Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV",
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.",
keywords = "3D pose estimation, Active 3D marker, Dual-eye cameras, Real-time Multi-step GA, Turbidity",
author = "Lwin, {Khin Nwe} and Myo Myint and Naoki Mukada and Daiki Yamada and Takayuki Matsuno and Mamoru Minami",
year = "2018",
month = "12",
day = "4",
doi = "10.1109/OCEANSKOBE.2018.8559085",
language = "English",
booktitle = "2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Robustness of 3D pose estimation against turbidity using dual-eye cameras and active/lighting 3D marker for visual-servoing based AUV

AU - Lwin, Khin Nwe

AU - Myint, Myo

AU - Mukada, Naoki

AU - Yamada, Daiki

AU - Matsuno, Takayuki

AU - Minami, Mamoru

PY - 2018/12/4

Y1 - 2018/12/4

N2 - 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.

AB - 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.

KW - 3D pose estimation

KW - Active 3D marker

KW - Dual-eye cameras

KW - Real-time Multi-step GA

KW - Turbidity

UR - http://www.scopus.com/inward/record.url?scp=85060272983&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85060272983&partnerID=8YFLogxK

U2 - 10.1109/OCEANSKOBE.2018.8559085

DO - 10.1109/OCEANSKOBE.2018.8559085

M3 - Conference contribution

AN - SCOPUS:85060272983

BT - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

PB - Institute of Electrical and Electronics Engineers Inc.

ER -