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Sensing of Objects in Water by Computer Vision Techniques

通过计算机视觉技术感知水中的物体

基本信息

批准号：
14550416
负责人：
KANEKO Toru
金额：
$ 1.86万
依托单位：
Shizuoka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550416/
关键词：
Computer Vision Objects in Water Sensing Laser Refraction 3-D Measurement Stereo Vision Shape Measurement

项目摘要

In this study, we proposed three new methods that can measure 3-D shapes of objects in water as follows:1)3-D Measurement of Objects in Water Tank with a Laser Range Finder, 2)3-D Measurement of Objects in Water with a Laser Range Finder Equipped with a Manipulator, and 3)Robust Observation in Underwater Environments against Bubble Noises with a Stereo Camera System.As to 1), we proposed 3-D measurement method of objects' shapes in liquid by using a spot light and a slit light, respectively. When applying vision sensors to measuring objects in liquid, we meet the problem of an image distortion. It is caused by the refraction of the light on the boundary between the air and the liquid, and the distorted image brings errors in a triangulation for the range measurement. Our proposed method can measure the accurate 3-D coordinates of object surfaces in liquid taken for calculating the refraction effect.As to 2), we constructed a new sensing system that consisted of 6DOF manipulator and a laser range finder. 3-D shapes, positions, and orientations of objects in water could be measured while moving the manipulator.As to 3), observation in underwater environments meets the difficulty that scenes are sometimes disturbed by air bubbles. It has also the problem that, when a camera is set in air behind a watertight glass plate, refraction occurs at the boundary surface between air and water, resulting in geometrical distortion of images. Therefore, we proposed a robust observation method for underwater environments observation, which is realized by image processing for bubble image removal and three-dimensional measurement where refraction is taken into account.The effectiveness of our proposed methods was verified through experimental results.

本研究提出了三种测量水中物体三维形状的新方法：1）激光测距仪测量水槽中物体的三维形状; 2）激光测距仪加机械手测量水中物体的三维形状;在应用视觉传感器测量液体中的物体时，会遇到图像失真的问题。它是由光在空气和液体之间的边界上的折射引起的，并且失真的图像在用于距离测量的三角测量中带来误差。该方法可以精确测量液体中物体表面的三维坐标，用于计算折射效应。对于2），我们构建了一个由六自由度机械手和激光测距仪组成的传感系统。在水下环境中，由于气泡的干扰，观测困难，在水下环境中观测时，由于气泡的影响，观测结果不稳定。还有一个问题是，当相机设置在水密玻璃板后面的空气中时，在空气和水之间的边界表面处发生折射，导致图像的几何失真。为此，提出了一种基于图像处理的气泡图像去除和考虑折射的三维测量相结合的水下环境鲁棒观测方法，并通过实验验证了该方法的有效性。