TY - JOUR
T1 - ACMarker
T2 - Acoustic Camera-Based Fiducial Marker System in Underwater Environment
AU - Wang, Yusheng
AU - Ji, Yonghoon
AU - Liu, Dingyu
AU - Tamura, Yusuke
AU - Tsuchiya, Hiroshi
AU - Yamashita, Atsushi
AU - Asama, Hajime
N1 - Funding Information:
Manuscript received February 24, 2020; accepted June 21, 2020. Date of publication June 29, 2020; date of current version July 7, 2020. This letter was recommended for publication by Associate Editor F. Ruggiero and Editor J. Roberts upon evaluation of the reviewers’ comments. This work was supported by JSPS KAKENHI under Grants 19K21547, and 20K19898. (Corresponding author: Yusheng Wang.) Yusheng Wang, Dingyu Liu, Atsushi Yamashita, and Hajime Asama are with the Department of Precision Engineering, Graduate School of Engineering, University of Tokyo, Tokyo 113-8654, Japan (e-mail: wang@robot.t.u-tokyo.ac.jp; liu@robot.t.u-tokyo.ac.jp; yamashita@robot.t.u-tokyo.ac.jp; asama@robot.t.u-tokyo.ac.jp).
Publisher Copyright:
© 2016 IEEE.
PY - 2020/10
Y1 - 2020/10
N2 - ACMarker is an acoustic camera-based fiducial marker system designed for underwater environments. Optical camera-based fiducial marker systems have been widely used in computer vision and robotics applications such as augmented reality (AR), camera calibration, and robot navigation. However, in underwater environments, the performance of optical cameras is limited owing to water turbidity and illumination conditions. Acoustic cameras, which are forward-looking sonars, have been gradually applied in underwater situations. They can acquire high-resolution images even in turbid water with poor illumination. We propose methods to recognize a simply designed marker and to estimate the relative pose between the acoustic camera and the marker. The proposed system can be applied to various underwater tasks such as object tracking and localization of unmanned underwater vehicles. Simulation and real experiments were conducted to test the recognition of such markers and pose estimation based on the markers.
AB - ACMarker is an acoustic camera-based fiducial marker system designed for underwater environments. Optical camera-based fiducial marker systems have been widely used in computer vision and robotics applications such as augmented reality (AR), camera calibration, and robot navigation. However, in underwater environments, the performance of optical cameras is limited owing to water turbidity and illumination conditions. Acoustic cameras, which are forward-looking sonars, have been gradually applied in underwater situations. They can acquire high-resolution images even in turbid water with poor illumination. We propose methods to recognize a simply designed marker and to estimate the relative pose between the acoustic camera and the marker. The proposed system can be applied to various underwater tasks such as object tracking and localization of unmanned underwater vehicles. Simulation and real experiments were conducted to test the recognition of such markers and pose estimation based on the markers.
KW - computer vision for other robotic applications
KW - Marine robotics
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U2 - 10.1109/LRA.2020.3005375
DO - 10.1109/LRA.2020.3005375
M3 - Article
AN - SCOPUS:85088136289
SN - 2377-3766
VL - 5
SP - 5018
EP - 5025
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 9127781
ER -