Development and Research of a Multi-Medium Motion Capture System for Underwater Intelligent Agents
Source abstract
Abstract
A multi-medium motion capture system based on markers’ visual detection is developed and experimentally demonstrated for monitoring underwater intelligent agents such as fish biology and bionic robot-fish. Considering the refraction effect between air and water, a three-dimensional (3D) reconstruction model is established, which can be utilized to reconstruct the 3D coordinate of markers underwater from 2D data. Furthermore, the process of markers matching is undertaken through the multi-lens fusion perception prediction combined K-Means clustering algorithm. Subsequently, in order to track the marker of being occluded, according to the kinematics information of fish, an improved Kalman filtering algorithm is proposed. Finally, the feasibility and effectiveness of proposed system are verified through experimental results. The main models and methods in this paper can provide a reference and inspiration for measurement of underwater intelligent agents.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Water Quality Monitoring Technologies · Biomimetic flight and propulsion mechanisms
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China
Data Science Institute, Columbia University, New York, NY 10027, USA
Funding
Shanghai Zhangjiang National Independent Innovation Demonstration Zone Special Development Fund Major Project Plan · National Postdoctoral Program for Innovative Talents
References (24)
Show source-provided references
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