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1、ResearchonUnderwaterObjectDetectionAlgorithmsforUnderwaterVehiclesAbstractThedeepblueseahasalwaysbeenaplacethatarousescuriosityandimagination.Mankindhasbeentryingtoexploreandexploitthismysteriouspartoftheworldfordecades.Theadventofunderwatervehiclesimprovesourabilitytounderstandtheunderseaworld.TheU
2、nderwaterVehicles,representedbytheRemotelyOperatedVehicle(ROV)andtheAutonomousUnderwaterVehicle(AUV),arebeingwidelyusedinscientificandmilitarymissionsforsearchandsurvey,oceanengineering,testandevaluations,andinwhichtheidentificationofunderwaterobjectsremainsamajorissue.Anumberofunderwatervehicleshav
3、eusedvisionsystemasmainsensingmechanismbecauseoftheirhighresolutionandlowcost.Inordertogetthebroadvision,thewide-anglecamerasarewidelyusedintheUnderwaterVehicles.However,thecurrentdomesticwide-anglevisionsystemdevelopmentalsoisnotverymature,forexample,thereisaproblemsuchasimagedistortionusingwide-an
4、glecamera.Inseawater,thelight’sspecificfeaturessuchasabsorptionandscatteringphenomena,makethevisiontaskmoredifficult.Inthespecificcontextofunderwaterman-madeobjectidentificationbyrobots,weoftenhavesomeverybasicknowledgeontheobjectthatwearelookingfor.Shapesandcolorsarethemostcommonknowledge.Becauseun
5、derwaterimagingsuffersfromlowcontrast,non-uniformillumination,theliteraturerelatedtounderwaterobjectidentificationusuallyshowsalgorithmsbasedonshape.Colorislessfrequentlyusedasafeatureforunderwateroperationscomparedtoterrestrialones,butcolorremainsasimple,robustandreliablepieceofinformationforunderw
6、aterobjectidentificationbecauseofitssimplicityanditsrobustnesstoscalechanges,objectpositionandpartialocclusions.Unfortunately,inunderwatermedium,thecolorismodifiedbyattenuationandisnotIII万方数据constantwiththedistance.Todealwithcolorproblems,someauthorshavealsotriedtoembedsuitableilluminationsystemsore
7、stimatewithaccuracyobjectsurfacereflectancespectra.Thosesolutionsworkwellbutthiskindofadditionalmaterialoradditionalpriorknowledgeisproblematicconstraintonlightautonomousrobots.Sohowtosolvethewide-ang
