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Sensing of Objects in Water by Computer Vision Techniques

Research Project

Project/Area Number 14550416
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Measurement engineering
Research InstitutionShizuoka University

Principal Investigator

KANEKO Toru  Shizuoka University, Faculty of Engineering, Professor, 工学部, 教授 (50293600)

Co-Investigator(Kenkyū-buntansha) MIURA T. Kenjiro  Shizuoka University, Faculty of Engineering, Professor, 工学部, 教授 (50254066)
ARAI Tamio  The University of Tokyo, Faculty of Engineering, Professor, 大学院・工学系研究科, 教授 (40111463)
YAMASHITA Atsushi  Shizuoka University, Faculty of Engineering, Research Associate, 工学部, 助手 (30334957)
KAWATA Yoshimasa  Shizuoka University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (70221900)
Project Period (FY) 2002 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥2,900,000 (Direct Cost: ¥2,900,000)
Fiscal Year 2003: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2002: ¥2,100,000 (Direct Cost: ¥2,100,000)
KeywordsComputer Vision / Objects in Water / Sensing / Laser / Refraction / 3-D Measurement / Stereo Vision / Shape Measurement
Research Abstract

In this study, we proposed three new methods that can measure 3-D shapes of objects in water as follows:
1)3-D Measurement of Objects in Water Tank with a Laser Range Finder, 2)3-D Measurement of Objects in Water with a Laser Range Finder Equipped with a Manipulator, and 3)Robust Observation in Underwater Environments against Bubble Noises with a Stereo Camera System.
As to 1), we proposed 3-D measurement method of objects' shapes in liquid by using a spot light and a slit light, respectively. When applying vision sensors to measuring objects in liquid, we meet the problem of an image distortion. It is caused by the refraction of the light on the boundary between the air and the liquid, and the distorted image brings errors in a triangulation for the range measurement. Our proposed method can measure the accurate 3-D coordinates of object surfaces in liquid taken for calculating the refraction effect.
As to 2), we constructed a new sensing system that consisted of 6DOF manipulator and a laser range finder. 3-D shapes, positions, and orientations of objects in water could be measured while moving the manipulator.
As to 3), observation in underwater environments meets the difficulty that scenes are sometimes disturbed by air bubbles. It has also the problem that, when a camera is set in air behind a watertight glass plate, refraction occurs at the boundary surface between air and water, resulting in geometrical distortion of images. Therefore, we proposed a robust observation method for underwater environments observation, which is realized by image processing for bubble image removal and three-dimensional measurement where refraction is taken into account.
The effectiveness of our proposed methods was verified through experimental results.

Report

(3 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] A.Yamashita, T.Kaneko, S.Matsushita, K.T.Miura, S.Isogai: "Camera Calibration and 3-D Measurement with an Active Stereo Vision System for Handling Moving Objects"Journal of Robotics and Mechatronics. 15・3. 304-313 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] A.Yamashita, E.Hayashimoto, T.Kaneko, Y.Kawata: "3-D Measurement of Objects in a Cylindrical Glass Water Tank with a Laser Range Finder"Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. 1578-1583 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] A.Yamashita, H.Higuchi, T.Kaneko, Y.Kawata: "Three Dimensional Measurement of Object's Surface in Water Using the Light Stripe Projection Method"Proceedings of the 2004 IEEE International Conference on Robotics and Automation. 2736-2741 (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] A.Yamashita, T.Kaneko, S.Matsushita, K.T.Miura, S.Isogai: "Camera Calibration and 3-D Measurement with an Active Stereo Vision System for Handling Moving Objects"Journal of Robotics and Mechatronics. Vol.1,No.3. 304-313 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] A.Yamashita, E.Hayashimoto, T.Kaneko, Y.Kawata: "3-D Measurement of Objects in a Cylindrical Glass Water Tank with a Laser Range Finder"Proc. 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. 1578-1583 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] A.Yamashita, H.Higuchi, T.Kaneko, Y.Kawata: "Three Dimensional Measurement of Object's Surface in Water Using the Light Stripe Projection Method"Proc. 2004 IEEE Int. Conf on Robotics and Automation. 2736-2741 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] A.Yamashita, T.Kaneko, S.Matsushita, K.T.Miura, S.Isogai: "Camera Calibration and 3-D Measurement with an Active Stereo Vision System for Handling Moving Objects"Journal of Robotics and Mechatronics. 15・3. 304-313 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] A.Yamashita, T.Kaneko, S.Matsushita, K.T.Miura, S.Isogai: "Camera Calibration and 3-D Measurement with an Active Stereo Vision System for Handling Moving Objects"Journal of Robotics & Mechatronics. 15,3. (2003)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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