Automatic object tracking for an unmanned underwater vehicle using real-time image filtering and correlation

Author

Marks, Richard L. ; Rock, Stephen M. ; Lee, Michael J.

Author_Institution

Aerosp. Robotics Lab., Stanford Univ., CA, USA

fYear

1993

fDate

17-20 Oct 1993

Firstpage

337

Abstract

The focus of this research was automatic visual tracking of realistic underwater objects. Powerful real-time filtering and correlation hardware was used to generate full-image range and velocity maps at frame rates. These maps were in turn processed to provide object centroid position and rate. The object tracking system was tested experimentally on an underwater robotic vehicle, and qualitative results were obtained. Using this tracking system, the vehicle successfully tracked several different objects automatically. The feasibility of tracking realistic underwater objects in real-time was proven

Keywords

correlation methods; filtering theory; image processing; marine systems; real-time systems; tracking; automatic object tracking; automatic visual tracking; correlation; full-image range; object centroid position; object centroid rate; real-time image filtering; unmanned underwater vehicle; Cameras; Filtering; Laboratories; Machine vision; Optical sensors; Real time systems; Robotics and automation; Target tracking; Underwater tracking; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on

Conference_Location

Le Touquet

Print_ISBN

0-7803-0911-1

Type

conf

DOI

10.1109/ICSMC.1993.385034

Filename

385034