2003 Fiscal Year Final Research Report Summary
Sensing of Objects in Water by Computer Vision Techniques
| Project/Area Number |
14550416
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Measurement engineering
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| Research Institution | Shizuoka University |
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Principal Investigator |
KANEKO Toru Shizuoka University, Faculty of Engineering, Professor, 工学部, 教授 (50293600)
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| 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)
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| Project Period (FY) |
2002 – 2003
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| Keywords | Computer Vision / Objects in Water / Sensing / Laser / Refraction / 3-D Measurement / Stereo Vision / Shape Measurement |
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| 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.
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Research Products
(6 results)
