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Color Registration of Underwater Images for Underwater Sensing with Consideration of Light Attenuation

Yamashita, Atsushi and Fujii, Megumi and Kaneko, Toru (2007) Color Registration of Underwater Images for Underwater Sensing with Consideration of Light Attenuation. In: Proceedings 2007 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4570-4575. ISBN 1-4244-0601-3. https://resolver.caltech.edu/CaltechAUTHORS:20170419-163036746

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Abstract

Colors of objects observed in underwater environments are different from those in air. This is because the light intensity decreases with the distance from objects in water by light attenuation. Robots on the ground or in air usually recognize surrounding environments by using images acquired with cameras. The same is/will be true of underwater robots. However, recognition methods in air based on image processing techniques may become invalid in water because of light attenuation. Therefore, we propose a color registration method of underwater images. The proposed method estimates underwater environments where images are acquired, in other words, parameters essential to color registration, by using more than two images. After estimating parameters, color registration is executed with consideration of light attenuation. The effectiveness of the proposed method is verified through experiments.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2007.364183DOIArticle
http://ieeexplore.ieee.org/document/4209801/PublisherArticle
Additional Information:© 2007 IEEE. The authors would like to thank Prof. Kazunori Umeda and Mr. Naoya Ogawa of Chuo University for helping RAW image analysis of NIKON D70. The authors also would like to thank Prof. Joel W. Burdick of California Institute of Technology and his laboratory members for useful suggestions. This research was partially supported by the Ministry of Education, Culture, Sports, Science and Technology, Grant-in-Aid for Scientific Research (C), 14550416, 2002.
Funders:
Funding AgencyGrant Number
Ministry of Education, Culture, Sports, Science and Technology (MEXT)14550416
Subject Keywords:underwater sensing, color registration, light attenuation, computer vision, image processing
DOI:10.1109/ROBOT.2007.364183
Record Number:CaltechAUTHORS:20170419-163036746
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170419-163036746
Official Citation:A. Yamashita, M. Fujii and T. Kaneko, "Color Registration of Underwater Images for Underwater Sensing with Consideration of Light Attenuation," Proceedings 2007 IEEE International Conference on Robotics and Automation, Roma, 2007, pp. 4570-4575. doi: 10.1109/ROBOT.2007.364183
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:76729
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:19 Apr 2017 23:58
Last Modified:15 Nov 2021 17:02

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