Visual pose estimation for autonomous inspection of fish pens
Alexander Duda, Jakob Schwendner, Annette Stahl, Per Rundtop
In MTS/IEEE Conference 2015, (OCEANS), 18.5.-21.5.2015, Genova, IEEE, pages 1-6, May/2015. ISBN: 10.1109/OCEANS-Genova.2015.7271392.
One of the main issues for using autonomous
underwater vehicles in fish pen inspections is the pose estimation
of the vehicle with respect to the fishnets. In this paper, a novel Xjunction
detector (Fast-Cross) is proposed, which is able to detect
fishnet knots and their topology in camera images. The detected
knots are used for estimating the pose of a camera relative to
fishnets. This avoids the tracking of image features and therefore
does not suffer in situations with repeated scene structures. The
algorithm is evaluated on test images taken at a fish pen in
Norway, and on images in a controlled underwater test facility.
The results show that the proposed algorithm provides robust
features and stable pose estimation in the tested environments.
Cameras;Detectors;Estimation;Image edge detection;Junctions;Underwater vehicles;Visualization