Research on underwater robot ranging technology based on semantic segmentation and binocular vision
Abstract Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2024-05-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-024-63017-8 |
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| _version_ | 1832594717483728896 |
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| author | Qing Hu Kekuan Wang Fushen Ren Zhongyang Wang |
| author_facet | Qing Hu Kekuan Wang Fushen Ren Zhongyang Wang |
| author_sort | Qing Hu |
| collection | DOAJ |
| description | Abstract Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle distance measurement system based on semantic segmentation and binocular vision is proposed. The system uses Deeplabv3 + to identify the underwater target captured by the binocular camera and generate the target map, which is then used for binocular ranging. Compared with the binocular ranging using the original drawing, the measurement accuracy of the proposed method has not changed, the measurement speed is increased by 30%, and the error rate is controlled within 5%, which meets the needs of underwater robot operations. |
| format | Article |
| id | doaj-art-bcae31514c564aa7af93fec95edca79d |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-05-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-bcae31514c564aa7af93fec95edca79d2025-01-19T12:25:01ZengNature PortfolioScientific Reports2045-23222024-05-0114111410.1038/s41598-024-63017-8Research on underwater robot ranging technology based on semantic segmentation and binocular visionQing Hu0Kekuan Wang1Fushen Ren2Zhongyang Wang3Sanya Offshore Oil and Gas Research Institute, Northeast Petroleum UniversityCNPC Engineering Technology Research Company LimitedSanya Offshore Oil and Gas Research Institute, Northeast Petroleum UniversitySanya Offshore Oil and Gas Research Institute, Northeast Petroleum UniversityAbstract Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle distance measurement system based on semantic segmentation and binocular vision is proposed. The system uses Deeplabv3 + to identify the underwater target captured by the binocular camera and generate the target map, which is then used for binocular ranging. Compared with the binocular ranging using the original drawing, the measurement accuracy of the proposed method has not changed, the measurement speed is increased by 30%, and the error rate is controlled within 5%, which meets the needs of underwater robot operations.https://doi.org/10.1038/s41598-024-63017-8Underwater robotBinocular visionSemantic segmentationRanging |
| spellingShingle | Qing Hu Kekuan Wang Fushen Ren Zhongyang Wang Research on underwater robot ranging technology based on semantic segmentation and binocular vision Scientific Reports Underwater robot Binocular vision Semantic segmentation Ranging |
| title | Research on underwater robot ranging technology based on semantic segmentation and binocular vision |
| title_full | Research on underwater robot ranging technology based on semantic segmentation and binocular vision |
| title_fullStr | Research on underwater robot ranging technology based on semantic segmentation and binocular vision |
| title_full_unstemmed | Research on underwater robot ranging technology based on semantic segmentation and binocular vision |
| title_short | Research on underwater robot ranging technology based on semantic segmentation and binocular vision |
| title_sort | research on underwater robot ranging technology based on semantic segmentation and binocular vision |
| topic | Underwater robot Binocular vision Semantic segmentation Ranging |
| url | https://doi.org/10.1038/s41598-024-63017-8 |
| work_keys_str_mv | AT qinghu researchonunderwaterrobotrangingtechnologybasedonsemanticsegmentationandbinocularvision AT kekuanwang researchonunderwaterrobotrangingtechnologybasedonsemanticsegmentationandbinocularvision AT fushenren researchonunderwaterrobotrangingtechnologybasedonsemanticsegmentationandbinocularvision AT zhongyangwang researchonunderwaterrobotrangingtechnologybasedonsemanticsegmentationandbinocularvision |