Development of Robust Recogintion Algorithm of Retro-reflective Marker Based on Visual Odometry for Underwater Environment
In this paper, we propose the robust algorithm of retro-reflective marker recognition algorithm based on visual odometry. Retro-reflective is used in order to distinguish markers under the low visibility underwater environment. The existing marker recognition algorithm estimates 6-DOF pose only if camera captures the whole marker image. To overcome this weakness we proposed the robust recognition algorithm based on visual odometry in this paper. The recognition algorithm is tested in real sea experiment.
KeywordsAutonomous underwater vehicles Robot vision Marker recognition Underwater vision 6-DOF pose estimation Visual odometry Retro-reflective material Unmanned underwater vehicle Robot vision system
This research was supported by grant No. 10043928 from the Industrial Source Technology Development Programs of the MOTIE (Ministry Of Trade, Industry and Energy), Korea. The students are supported by the Korea Ministry of Land, Transport and Maritime Affairs (MLTM) as U-City Master and Doctor Course Grant Program.
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