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Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

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A Mirror-Based Active Vision System for Underwater Robots: From the Design to Active Object Tracking Application.

Noel Cortés-Pérez¹, Luz Abril Torres-Méndez¹

¹CINVESTAV Unidad Saltillo. Robotics and Advanced Manufacturing Group, Ramos Arizpe, Mexico.

Frontiers in Robotics and AI

|July 8, 2021

Summary

This study introduces a novel mirror-based active vision system for underwater robots. The system enhances object tracking and navigation in complex environments like coral reefs without structural modifications.

Keywords:

autonomous underwater vehicles catadioptric system object tracking robot vision underwater exploration vision system

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VisioTracker, an Innovative Automated Approach to Oculomotor Analysis

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Published on: October 12, 2011

Area of Science:

Robotics
Computer Vision
Marine Technology

Background:

Underwater robots require advanced perception for navigation and exploration.
Existing systems often lack adaptability or require structural changes.
Mirror-based active vision systems are underexplored in underwater applications.

Purpose of the Study:

To develop and evaluate a lightweight, mirror-based active vision system for underwater robots.
To enhance the perceptual tracking capabilities of existing underwater robots.
To enable effective motion planning and navigation strategies in complex underwater environments.

Main Methods:

A two-mirror system with one static and one steerable mirror controlled by servomotors.
Object tracking using homography and HSV color space for reduced lighting effects.
Kalman filter for object prediction and an image PD controller for servomotor control.

Main Results:

The system successfully tracked artificial objects in real-world experiments.
Satisfactory real-time performance was achieved in detecting low-complexity objects.
Effective operation was demonstrated even in poor lighting conditions.

Conclusions:

The developed mirror-based active vision system is a viable solution for enhancing underwater robot perception.
The lightweight, 3D-printed design offers an affordable and adaptable approach.
This technology can improve navigation, object tracking, and obstacle evasion for marine conservation efforts.