Multi-scale CNN stereo and pattern removal technique for underwater active stereo system

Kazuto Ichimaru, Ryo Furukawa, Hiroshi Kawasaki

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

3 被引用数 (Scopus)

抄録

Demands on capturing dynamic scenes of underwater environments are rapidly growing. Passive stereo is applicable to capture dynamic scenes, however the shape with textureless surfaces or irregular reflections cannot be recovered by the technique. In our system, we add a pattern projector to the stereo camera pair so that artifi?cial textures are augmented on the objects. To use the system at underwater environments, several problems should be compensated, i.e., refraction, disturbance by fluctuation and bubbles. Further, since surface of the objects are interfered by the bubbles, projected patterns, etc., those noises and patterns should be removed from captured images to recover original texture. To solve these problems, we propose three approaches; a depth-dependent calibration, Convolutional Neural Network(CNN)-stereo method and CNN-based texture recovery method. A depth-dependent calibration I sour analysis to fi?nd the acceptable depth range for approximation by center projection to fi?nd the certain target depth for calibration. In terms of CNN stereo, unlike common CNN based stereo methods which do not consider strong disturbances like refraction or bubbles, we designed a novel CNN architecture for stereo matching using multi-scale information, which is intended to be robust against such disturbances. Finally, we propose a multi-scale method for bubble and a projected-pattern removal method using CNNs to recover original textures. Experimental results are shown to prove the effectiveness of our method compared with the state of the art techniques. Furthermore, reconstruction of a live swimming fi?sh is demonstrated to confi?rm the feasibility of our techniques.

本文言語英語
ホスト出版物のタイトルProceedings - 2018 International Conference on 3D Vision, 3DV 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ61-70
ページ数10
ISBN(電子版)9781538684252
DOI
出版ステータス出版済み - 10月 12 2018
イベント6th International Conference on 3D Vision, 3DV 2018 - Verona, イタリア
継続期間: 9月 5 20189月 8 2018

出版物シリーズ

名前Proceedings - 2018 International Conference on 3D Vision, 3DV 2018

その他

その他6th International Conference on 3D Vision, 3DV 2018
国/地域イタリア
CityVerona
Period9/5/189/8/18

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識

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