Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

10.5772/4700 ◽  
2006 ◽  
Author(s):  
Kia Chua ◽  
Mohd Rizal
Keyword(s):  
Target Tracking ◽  
Heuristic Reasoning ◽  
Underwater Target

scholarly journals Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

10.5772/5782 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 25 ◽  
Author(s):  
Chua Kia ◽  
Mohd Rizal Arshad
Keyword(s):  
Target Tracking ◽  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Vision System ◽  
Open Loop ◽  
Underwater Robotics ◽  
Perspective View ◽  
Inference System ◽  
Heuristic Reasoning ◽  
Underwater Target

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline) in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

Research on Underwater Target Tracking Based on Contour Detection

2011 ◽  
Vol 317-319 ◽  
pp. 890-896
Author(s):  
Ming Jun Zhang ◽  
Yuan Yuan Wan ◽  
Zhen Zhong Chu
Keyword(s):  
Prediction Model ◽  
Target Tracking ◽  
Tracking System ◽  
Contour Detection ◽  
Motion Prediction ◽  
Moving Target ◽  
Contour Extraction ◽  
Tracking Accuracy ◽  
Tracking Method ◽  
Underwater Target

The traditional centroid tracking method over-relies on the accuracy of segment, which easily lead to loss of underwater moving target. This paper presents an object tracking method based on circular contour extraction, combining region feature and contour feature. Through the correction to circle features, the problem of multiple solutions causing by Hough transform circle detection is avoided. A new motion prediction model is constructed to make up the deficiency that three-order motion prediction model has disadvantage of high dimension and large calculation. The predicted position of object centroid is updated and corrected by circle contour, forming prediction-measurement-updating closed-loop target tracking system. To reduce system processing time, on the premise of the tracking accuracy, a dynamic detection method based on target state prediction model is proposed. The results of contour extraction and underwater moving target experiments demonstrate the effectiveness of the proposed method.

scholarly journals A Track Initiation Method for the Underwater Target Tracking Environment

2018 ◽  
Vol 32 (2) ◽  
pp. 206-215
Author(s):  
Dong-dong Li ◽  
Yang Lin ◽  
Yao Zhang
Keyword(s):  
Target Tracking ◽  
Underwater Target ◽  
Track Initiation

Shifted Rayleigh filter: a novel estimation filtering algorithm for pervasive underwater passive target tracking for computation in 3D by bearing and elevation measurements

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Lakshmi M. Kavitha ◽  
Rao S. Koteswara ◽  
K. Subrahmanyam
Keyword(s):  
Target Tracking ◽  
Long Range ◽  
Target Location ◽  
Unscented Kalman Filter ◽  
Three Dimensional ◽  
Content Type ◽  
Solution Convergence ◽  
Passive Target Tracking ◽  
Underwater Target ◽  
Target Motion Analysis

Purpose Marine exploration is becoming an important element of pervasive computing underwater target tracking. Many pervasive techniques are found in current literature, but only scant research has been conducted on their effectiveness in target tracking. Design/methodology/approach This research paper, introduces a Shifted Rayleigh Filter (SHRF) for three-dimensional (3 D) underwater target tracking. A comparison is drawn between the SHRF and previously proven method Unscented Kalman Filter (UKF). Findings SHRF is especially suitable for long-range scenarios to track a target with less solution convergence compared to UKF. In this analysis, the problem of determining the target location and speed from noise corrupted measurements of bearing, elevation by a single moving target is considered. SHRF is generated and its performance is evaluated for the target motion analysis approach. Originality/value The proposed filter performs better than UKF, especially for long-range scenarios. Experimental results from Monte Carlo are provided using MATLAB and the enhancements achieved by the SHRF techniques are evident.

scholarly journals An Improved Kernelized Correlation Filter Algorithm for Underwater Target Tracking

2018 ◽  
Vol 8 (11) ◽  
pp. 2154 ◽  
Author(s):  
Xingmei Wang ◽  
Guoqiang Wang ◽  
Zhonghua Zhao ◽  
Yue Zhang ◽  
Binghua Duan
Keyword(s):  
Target Tracking ◽  
Adaptive Filter ◽  
Poor Performance ◽  
Image Sequences ◽  
Correlation Filter ◽  
Tracking Errors ◽  
The Poor ◽  
Continuous Scale ◽  
Underwater Target ◽  
Update Strategy

To obtain accurate underwater target tracking results, an improved kernelized correlation filter (IKCF) algorithm is proposed to track the target in forward-looking sonar image sequences. Specifically, a base sample with a dynamically continuous scale is first applied to solve the poor performance of fixed-scale filters. Then, in order to prevent the filter from drifting when the target disappears and appears again, an adaptive filter update strategy with the peak to sidelobe ratio (PSR) of the response diagram is developed to solve the following target tracking errors. Finally, the experimental results show that the proposed IKCF can obtain accurate tracking results for the underwater targets. Compared to other algorithms, the proposed IKCF has obvious superiority and effectiveness.

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