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Real-time stereovision framework for underwater drone maneuvering
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Paper Abstract

In the paper a hybrid underwater drone maneuvering front-end, joining background subtraction and stereovision is presented. Novel formulation of the median based background subtraction allows for fast and reliable foreground/background scene segmentation based on drone-environment relative movement analysis. The following stereovision block performs matching of the foreground objects detected by the background subtraction module. Based on this, information can be provided to the drone on relative distance to the nearest objects in order to avoid collisions. The system does not assume any prior calibration and can operate in real-time.

Paper Details

Date Published: 14 May 2018
PDF: 10 pages
Proc. SPIE 10670, Real-Time Image and Video Processing 2018, 106700L (14 May 2018); doi: 10.1117/12.2305096
Show Author Affiliations
Bogusław Cyganek, AGH Univ. of Science and Technology (Poland)
Bogdan Smołka, Silesian Univ. of Technology (Poland)


Published in SPIE Proceedings Vol. 10670:
Real-Time Image and Video Processing 2018
Nasser Kehtarnavaz; Matthias F. Carlsohn, Editor(s)

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