TY - GEN
T1 - On the performance of color tracking algorithms for underwater robots under varying lighting and visibility
AU - Sattar, Junaed
AU - Dudek, Gregory
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2006
Y1 - 2006
N2 - We consider the use of visual target tracking for autonomous steering of an underwater robot. In this context, we consider a performance comparison for three key visual tracking algorithms used for servo control. We present a comparative study of the performance in underwater environments of three tracking algorithms that are widely used in vision applications. Variations in illumination, suspended particles and a resulting reduction in visibility hinders vision systems from performing satisfactorily in marine environments; at least not as well as they do in terrestrial (i.e. non-underwater) surroundings. Our work focuses on quantitatively measuring the performance of three color-based tracking algorithms- color blob tracker, color histogram tracker and mean-shift tracker, in tracking objects underwater in different levels lighting and visibility. We also present results demonstrating the effect of suspended particles underwater, and in conclusion we summarize the three tracking algorithms by comparing their pros and cons.
AB - We consider the use of visual target tracking for autonomous steering of an underwater robot. In this context, we consider a performance comparison for three key visual tracking algorithms used for servo control. We present a comparative study of the performance in underwater environments of three tracking algorithms that are widely used in vision applications. Variations in illumination, suspended particles and a resulting reduction in visibility hinders vision systems from performing satisfactorily in marine environments; at least not as well as they do in terrestrial (i.e. non-underwater) surroundings. Our work focuses on quantitatively measuring the performance of three color-based tracking algorithms- color blob tracker, color histogram tracker and mean-shift tracker, in tracking objects underwater in different levels lighting and visibility. We also present results demonstrating the effect of suspended particles underwater, and in conclusion we summarize the three tracking algorithms by comparing their pros and cons.
UR - http://www.scopus.com/inward/record.url?scp=33845640137&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2006.1642244
DO - 10.1109/ROBOT.2006.1642244
M3 - Conference contribution
AN - SCOPUS:33845640137
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3550
EP - 3555
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -