High-quality video observations are very much needed in underwater environments for the monitoring of several ecosystem indicators and to support sustainable development management almost all activities ocean. Reliable however challenging collect, because generally poor visibility conditions difficulties deploy cost-effective sensors platforms marine environment. Visibility water is regulated by natural light availability at different depths, presence suspended particles, scattering incident...

Camera estimation of fish size in aquaculture production and fisheries is crucial for enabling knowledge-based decision making. Automatic lengths on an individual population basis are key steps to automate biomass estimation. We propose use underwater 3D range-gated camera accurate fish-length free-swimming fish. The proposed algorithm requires no manual work or contact with the done in-situ. A robust algorithmic pipeline consisting detection, tracking length stages proposed. show accuracy...

We present a range-gated camera system designed for real-time (10 Hz) 3D estimation underwater. The uses fast-shutter CMOS sensor (1280×1024) customized to facilitate gating with 1.67 ns (18.8 cm in water) delay steps relative the triggering of solid-state actively Q-switched 532 nm laser. A depth algorithm has been carefully handle effects light scattering water, i.e., forward and backward scattering. raw signal is filtered reduce noise while preserving even presence unwanted backscatter....

Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles promising solution. This paper proposes laser-camera triangulation for pose estimation to enable following an vehicle. The laser 3D data experimentally compared doppler velocity log (DVL) active farm. We show that our system comparable performance DVL distance angular measurements. Laser as short ranging sensor at low cost acoustic sensors.

This paper describes a multi-spectral imaging near infrared (NIR) transflectance system developed for on-line determination of crude chemical composition highly heterogeneous foods and other bio-materials. The was evaluated moisture in 70 dried salted coalfish (bacalao), an extremely product. A spectral image cube obtained each fish different sub-sampling approaches extraction partial least squares calibration were evaluated. best prediction models correlation R 2 values around 0.92 root...

3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method using time-of-flight (TOF) camera and tracking of pipeline features such as junctions, bends obstacles. Feature extraction is done by fitting cylinder to images the pipeline. Data captured appear take conic rather than cylindrical shape, we adjust geometric primitive accordingly. Pixels deviating from estimated cylinder/cone fit are grouped...

Recently, Range Imaging (RIM) cameras have become available that capture high resolution range images at video rate. Such measure the distance from scene for each pixel independently based upon a measured time of flight (TOF). Some cameras, such as SwissRanger(tm) SR-3000, TOF on phase shift reflected light modulated source. are shown to be susceptible severe distortions in due scattering within lens and camera. Earlier work induced using simplified Gaussian point spread function inverse...

This paper proposes a low-cost solution for localizing remotely operated vehicle (ROV) inside fish net pen. The consists of kinematic Kalman Filter capable estimating the absolute ROV position and orientation in pen using primarily onboard compass, laser-camera triangulation, model cylindrical is demonstrated real pen, under realistic operating conditions, performance comparable to that specialized positioning sensor systems such as ultra short baseline Doppler velocity loggers.

High-precision underwater 3D cameras are required to automate many of the traditional subsea inspection, maintenance and repair (IMR) operations. In this paper we introduce a novel multi-frequency phase stepping (structured light) method for high-precision estimation even in turbid water. We an adaptive phase-unwrapping procedure which uses phase-uncertainty determine highest frequency that can be reliably unwrapped. Light scattering adversely affects estimate. propose remove effect forward...

Sensors that can provide detailed 3D data underwater are a prerequisite for enabling autonomous inspection of e.g. seafloor integrity, ocean habitats and subsea installations with unmanned vehicles. Sonars currently the primary source on moving platforms but have limited depth lateral resolution. Several optical approaches exist such as passive stereo, which problems textureless objects, LIDARs slow low In this work we explore use structured light, to achieve high-resolution objects in an...

Future normally-unmanned oil platforms offer potentially significantly lower commissioning and operation costs than their current manned counterparts. The ability to initiate perform remote inspection maintenance (I&M) operations is crucial for maintaining such platforms. This paper presents a system solution, including key components as 3D robot vision system, tool control architecture I&M on processes similar those topside In particular, case study how automatically replace battery in...

Enabling robots to automatically locate and pick up randomly placed oriented objects from a bin is an important challenge in factory automation, replacing tedious heavy manual labor. A system should be able recognize with predefined shape estimate the position precision necessary for gripping robot it up. We describe that consists of structured light instrument capturing 3D data robust approach object location pose estimation. The method does not depend on segmentation range images, but...

We have built and characterized a compact, simple flexible 3D camera based on interferometric fringe projection stereo reconstruction. The uses multi-frame active as basis for reconstruction, providing full-field images with measurement standard deviation of 0.09 mm, 12.5 Hz image capture rate resolution 500 × pixels. Interferometric enables low-power projector that consumes < 1 W electrical power. key component in the projector, movable micromirror, has undergone initial vibration,...

In this paper we present how to exploit a combination of an underwater range-gated imaging system and unsharp filtering method effectively suppress the effects forward- backward-scatter. Typically, back-scattered light causes contrast reduction in image, while forward-scattered blurring features. A can majority back-scatter by gating close objects interest, however, such systems do not have inherent way suppressing forward-scatter. The proposed facilitates real-time 3D because it acquisition...

Manipulation tasks on subsea instalments require extremely precise detection and localization of objects interest. This problem is referred to as “pose estimation”. In this work, we present a framework for detecting predicting 6DoF pose relevant (fish-tail, gauges, valves) panel under varying water turbidity. A deep learning model that takes 3D vision data an input developed, providing more robust 6D estimate. Compared the 2D model, proposed method reduces rotation translation prediction...

A flexible and highly configurable 3D vision system targeted for in-line product inspection is presented. The includes a low cost camera based on structured light set of software tools that automate the measurement process. specification tasks done in first manual step. user selects regions point cloud to analyze specifies primitives be characterized within these regions. After all have been specified, measurements can carried out successive parts automatically without supervision. As test...

We present an implementation of a novel foveating 3D sensor concept, inspired by the human eye, which intends to allow future robots better interact with their surroundings. The is based on time-of-flight laser scanning technology, where each range distance measurement performed individually for increased quality. Micro-mirrors enable detailed control and when sample point acquired in scene. By finding regions-of-interest (ROIs) mainly concentrating data acquisition here, spatial resolution...

Automatic picking of parts is an important challenge to solve within factory automation, because it can remove tedious manual work and save labor costs. One such application involves that arrive with random position orientation on a conveyor belt. The should be picked off the belt placed systematically into bins. We describe system consists structured light instrument for capturing 3D data robust methods aligning input template image scene. method uses general pre-processing steps based...

This paper presents a real-time contour tracking and object segmentation algorithm for 3D range images. The is used to control novel micro-mirror based imaging laser scanner, which provides dynamic trade-off between resolution frame rate. micro-mirrors are controllable, enabling us speed up acquisition significantly by only sampling on the that tracked of interest. As hardware under development, we benchmark our algorithms data from SICK LMS100-10000 scanner mounted tilting platform. We find...

Range imagery provided by time-of-flight (TOF) cameras has been shown to be useful facilitate robot navigation in several applications. Visual for autonomous pipeline inspection robots is a special case of such task, where the cramped operating environment influences range measurements detrimental way. Inherent imaging system are also defects that will lead smearing measurements. This paper sketches an approach using TOF as visual aid pipelines, and addresses challenges concerning inherent...

In this work, we have investigated the properties of light transport in turbid water for underwater 3D imaging, by comparing literature, simulations, and experiments. The work is motivated a need high-quality image data robotics, also waters. We present comparative analysis how sine wave line patterns degrade upon propagation through water, explain difference degradation signal response water. find that provide sharp peak from un-scattered (ballistic) photons, with very broad skirt scattered...