Robot Vision in Autonomous Underwater Vehicles Using the Color Shift in Underwater Imaging
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Authors
Jones, Jacob A.
Subjects
Advisors
Date of Issue
2019-08-13
Date
Publisher
United States Patent and Trademark Office (USPTO)
Language
Abstract
A robot vision system for generating a 3D point cloud of a surrounding environment through comparison of unfiltered and filtered images of the surrounding environment. A filtered image is captured using a camera filter which tends to pass certain wavelength bandwidths while mitigating the passage of other bandwidths. A processor receives the unfiltered and filtered images, pixel matches the unfiltered and filtered images, and determines an image distance for each pixel based on comparing the color coordinates determined for that pixel in the unfiltered and filtered image. The image distances determined provides a relative distance from the digital camera to an object or object portion captured by each pixel, and the relative magnitude of all image distances determined for all pixels in the unfiltered and filtered images allows generation of a 3D point cloud representing the object captured in the unfiltered and filtered images.
Type
Patent
Description
Series/Report No
Department
Organization
Identifiers
US 10,380,751 B1
NPS Report Number
Sponsors
Funding
Format
20 p.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.