An attitude correction method for underwater image captured by stationary sensor node

In this paper, we propose a method of estimating amount of attitude change of stationary sensor node which is important to realize observation of identical spot for a long term based on the tracked position data of underwater landmark generated on underwater image, and then in order to see a target, in here a coral, in the fixed position on image, attitude of captured image is corrected based on the estimated amount of attitude data. Then, we generate underwater landmark based on orientation code which is robust for illumination change caused by wave, and track underwater landmarks sequentially combining the method of position detection by using orientation code matching and the method of position estimation by particle filter. Further, we design the evaluation function using time series images. Then, we estimate amount of attitude change of sensor unit of stationary sensor node by optimizing the evaluation function based on Steepest Descent Method, and correct the attitude of original image with the estimated attitude data. Finally, through some experiments, we prove the effectiveness of our methods and discuss the future work.