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Published in:
2018 | OriginalPaper | Chapter
Real-Time Image Content Assessment for Underwater Robot Manoeuvring Based on Structural Tensor Analysis
Authors : Jakub Nawała, Bogusław Cyganek
Published in: Proceedings of the 10th International Conference on Computer Recognition Systems CORES 2017
Publisher: Springer International Publishing
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Abstract
The paper presents an efficient method for real-time image analysis for manoeuvring of the underwater robot. Image analysis is done after computing the structural tensor components which unveil rich texture and texture-less areas. To allow a power efficient underwater operation in real-time the method is implemented on the Jetson TK1 self-standing graphics card using the CUDA compute architecture. The laboratory experimental results show that the system is capable of processing about 40 Full HD images per second while allowing orientation toward texture specific regions for obstacle avoidance.