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1、·ResearchonUnderwaterObjectDetectionAlgorithmsforUnderwaterVehiclesAbstractThedeepblueseahasalwaysbeenaplacethatarousescuriosityandimagination.Mankindhasbeentryingtoexploreandexploitthismysteriouspartoftheworldfordecades.Theadventofunderwatervehiclesimprovesourabilitytoun
2、derstandtheunderseaworld.TheUnderwaterVehicles,representedbytheRemotelyOperatedVehicle(ROV)andtheAutonomousUnderwaterVehicle(AUV),arebeingwidelyusedinscientificandmilitarymissionsforsearchandsurvey,oceanengineering,testandevaluations,andinwhichtheidentificationofunderwate
3、robjectsremainsamajorissue.Anumberofunderwatervehicleshaveusedvisionsystemasmainsensingmechanismbecauseoftheirhighresolutionandlowcost.Inordertogetthebroadvision,thewide-anglecamerasarewidelyusedintheUnderwaterVehicles.However,thecurrentdomesticwide-anglevisionsystemdevel
4、opmentalsoisnotverymature,forexample,thereisaproblemsuchasimagedistortionusingwide-anglecamera.Inseawater,thelight’sspecificfeaturessuchasabsorptionandscatteringphenomena,makethevisiontaskmoredifficult.Inthespecificcontextofunderwaterman-madeobjectidentificationbyrobots,w
5、eoftenhavesomeverybasicknowledgeontheobjectthatwearelookingfor.Shapesandcolorsarethemostcommonknowledge.Becauseunderwaterimagingsuffersfromlowcontrast,non-uniformillumination,theliteraturerelatedtounderwaterobjectidentificationusuallyshowsalgorithmsbasedonshape.Colorisles
6、sfrequentlyusedasafeatureforunderwateroperationscomparedtoterrestrialones,butcolorremainsasimple,robustandreliablepieceofinformationforunderwaterobjectidentificationbecauseofitssimplicityanditsrobustnesstoscalechanges,objectpositionandpartialocclusions.Unfortunately,inund
7、erwatermedium,thecolorismodifiedbyattenuationandisnotIII···万方数据···constantwiththedistance.Todealwithcolorproblems,someauthorshavealsotriedtoembedsuitableilluminationsystemsorestimatewithaccuracyobjectsurfacereflectancespectra.Thosesolutionsworkwellbutthiskindofadditionalm
8、aterialoradditionalpriorknowledgeisproblematicconstraintonlightautonomousrobots.Sohowtosolvethew
