14 May 2018 Real-time stereovision framework for underwater drone maneuvering
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In the paper a hybrid underwater drone maneuvering front-end, joining background subtraction and stereovision is presented. Novel formulation of the median based background subtraction allows for fast and reliable foreground/background scene segmentation based on drone-environment relative movement analysis. The following stereovision block performs matching of the foreground objects detected by the background subtraction module. Based on this, information can be provided to the drone on relative distance to the nearest objects in order to avoid collisions. The system does not assume any prior calibration and can operate in real-time.
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Bogusław Cyganek, Bogusław Cyganek, Bogdan Smołka, Bogdan Smołka, "Real-time stereovision framework for underwater drone maneuvering", Proc. SPIE 10670, Real-Time Image and Video Processing 2018, 106700L (14 May 2018); doi: 10.1117/12.2305096; https://doi.org/10.1117/12.2305096


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