Autonomous boat for underwater surveillance

Generally, an autonomous boat with vision ability faces difficulties in navigation and data processing. In this work, implementation on image processing in underwater environment is implemented using autonomous for surveillance purposes. In this endeavor, the focus will be on analyzing the use of single vision cameras in providing data for research on environmental front underwater and also detecting depth and obstacles for better navigation. The system is able to detect solid objects in underwater and it can provide different information of marine environment using correct algorithm and technique. The result is accurate enough to detect obstacles or objects above and beneath the water taking into account the diffraction of light needed for perfect vision. In this research, OpenCV library is used for digital image processing and color feature analysis rather than MATLAB due to the complexity for real time process. The design structure is mainly based on Pontoon style because it is more stable and reliable especially on the river wave condition. Moreover, additional sensors and actuators are implemented in this project to monitor underwater information for navigation purposes

Improved underwater image enhancement algorithms based on partial differential equations (PDEs)

The experimental results of improved underwater image enhancement algorithms based on partial differential equations (PDEs) are presented in this report. This second work extends the study of previous work and incorporating several improvements into the revised algorithm. Experiments show the evidence of the improvements when compared to previously proposed approaches and other conventional algorithms found in the literature.Comment: 22 pages, 6 figure

GIMP Retinex and Underwater Imaging

In this paper we show and discuss some examples of the use of a Retinex filter provided by GIMP, the GNU image manipulation program for X window systems, for enhancing the images obtained by underwater photography. The tool seems suitable for applications in the processing of images recorded during the underwater automated surveying made by drones

GIMP Retinex and Underwater Imaging

In this paper we show and discuss some examples of the use of a Retinex filter provided by GIMP, the GNU image manipulation program for X window systems, for enhancing the images obtained by underwater photography. The tool seems suitable for applications in the processing of images recorded during the underwater automated surveying made by drones

Underwater robotic system for reservoir maintenance

In this paper a description and practical implementation of the developed prototype of an underwater hybrid robot is presented. The solution is based on the guidelines of Cracow waterworks (Municipal Waterworks and Sewer Enterprise, MPWiK S.A.). The prototype of the hybrid robot consists of a crawler robot and a ROV. Robots’ design, mathematical models of kinematics and dynamics of the crawler robot, ROV’s vision system architecture with image processing methods for surface crack detection and robot position and attitude estimation are investigated and examined. Results obtained from experimental validation of the developed prototype are presented and discussed. Finally, the paper establishes future research directions

Multimodal endoscopic system based on multispectral and photometric stereo imaging and analysis

We propose a multimodal endoscopic system based on white light (WL), multispectral (MS), and photometric stereo (PS) imaging for the examination of colorectal cancer (CRC). Recently, the enhancement of the diagnostic accuracy of CRC colonoscopy has been reported; however, tumor diagnosis for a variety of lesion types remains challenging using current endoscopy. In this study, we demonstrate that our developed system can simultaneously discriminate tumor distributions and provide three-dimensional (3D) morphological information about the colon surface using the WL, MS, and PS imaging modalities. The results demonstrate that the proposed system has considerable potential for CRC diagnosis. © 2019, OSA - The Optical Society. All rights reserved.1