唐旭东, 朱炜, 庞永杰, 李晔. 水下机器人光视觉目标识别系统[J]. 机器人, 2009, 31(2): 171-178..
TANG Xu-dong, ZHU Wei, PANG Yong-jie, LI Ye. Target Recognition System Based on Optical Vision for AUV. ROBOT, 2009, 31(2): 171-178..
Abstract:A target recognition system based on optical vision for AUV(autonomous underwater vehicle) is presented, and the hardware structure and software system of the vision system are described.Underwater image processing techniques are introduced,and considering the influence of scale factors on moment invariant features in discrete conditions,affine transformation invariants based on invariant moments are constructured.Structure and modeling of the immune genetic neural network(IGNN) applied to target recognition are discussed in detail.Experiments of underwater target recognition are made on four types of actual targets,and the results prove that the presented underwater target recognition system can be applied to underwater image recognition with relatively high real-time performance and accuracy.
[1] Kia C,Arshad M R.Robotics vision-based heuristic reasoning for underwater target tracking and navigation[J].International Journal of Advanced Robotic Systems,2005,2(3):245~250.
[2] Curl X,Garcia R,Ridao P.An approach to vision-based station keeping for an unmanned underwater vehicle[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2002.799~804.
[3] Balasuriya A,Ura T.Vision-based underwater cable detection and following using AUVs[A].Proceedings of the Oceans 2002 Conference and Exhibition[C].Piscataway,NJ,USA:IEEE,2002.1582~1587.
[4] 刘进,张天序.图像不变矩的推广[J].计算机学报,2004,27(5):668~674.Liu Jin,Zhang Tian-xu.The generalization of moment invariants[J].Chinese Joumal of Computers,2004,27(5):668~674.
[5] Yap P T,Paramesran R,Ong S H.Image analysis by krawtchouk moments[J].IEEE Transactions on Image Processing,2003,12(11):1367~1377.
[6] Hu M K.Visual-pattern recognition by moment invariants[J].IRE Transactions on Information Theory,1962,8(2):179~187.
[7] Mao K Z,Tan K C,Ser W.Probabilistic neural-network strnctore determination for pattern classification[J].IEEE Transactions on Neural Networks,2000,11(4):1009~1016.
[8] Cerqueira J J F,Palhares A G B,Madrid M K.A simple adaptive back-propagation algorithm for multilayered feedforward perceptrons[A].Proceedings of the IEEE International Conference on Systems,Man and Cybernetics[C].Piscataway,NJ,USA:IEEE,2002.590~595.
[9] de Castro L N,Timmis J I.Artificial immune systems as a novel soft computing paradigm[J].Soft Computing-A Fusion of Foundations,Methodologies and Applications,2003,7(8):526~544.
[10] 罗小平,韦巍.一种基于生物免疫遗传学的新优化方法[J].电子学报,2003,31(1):59~62.Luo Xiao-ping,Wei Wei.A new optimization method on immunogenetics[J].Acta Electronica Sinica,2003,31(1):59~62.