Real-time Model-based Image Color Correction for Underwater Robots

Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This paper proposes an underwater color correction method that integrates this new model on an underwater robot, using information from a pressure depth sensor for water depth and a visual odometry system for estimating scene distance. Experiments were performed with and without a color chart over coral reefs and a shipwreck in the Caribbean. We demonstrate the performance of our proposed method by comparing it with other statistic-, physic-, and learning-based color correction methods. Applications for our proposed method include improved 3D reconstruction and more robust underwater robot navigation.Comment: Accepted at the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

Classification and Redshift Estimation in Multi-Color Surveys

We present a photometric method for identifying stars, galaxies and quasars in multi-color surveys and estimating multi-color redshifts for the extragalactic objects. We use a library of >65000 color templates for comparison with observed objects. The method was originally developed for the Calar Alto Deep Imaging Survey (CADIS), but is now used in a variety of survey projects. We checked its performance by spectroscopy of CADIS objects, where it provides high reliability (6 mistakes among 151 objects with R<24), especially for the quasar selection, and redshifts accurate within sigma_z = 0.03 for galaxies and sigma_z = 0.1 for quasars. For an optimization of future surveys, a few model surveys are compared, which use the same amount of telescope time but different filter sets. In summary, medium-band surveys perform superior to broad-band surveys although they collect less photons. A full account of this work is already in print.Comment: 7 pages, 2 figures, proceedings of MPA/ESO/MPE Joint Astronomy Conference Mining THE SKY held in Garching, Germany, July 31 - Aug 4, 200