On the performance of color tracking algorithms for underwater robots under varying lighting and visibility

Junaed Sattar, Gregory Dudek

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Scopus citations

Abstract

We consider the use of visual target tracking for autonomous steering of an underwater robot. In this context, we consider a performance comparison for three key visual tracking algorithms used for servo control. We present a comparative study of the performance in underwater environments of three tracking algorithms that are widely used in vision applications. Variations in illumination, suspended particles and a resulting reduction in visibility hinders vision systems from performing satisfactorily in marine environments; at least not as well as they do in terrestrial (i.e. non-underwater) surroundings. Our work focuses on quantitatively measuring the performance of three color-based tracking algorithms- color blob tracker, color histogram tracker and mean-shift tracker, in tracking objects underwater in different levels lighting and visibility. We also present results demonstrating the effect of suspended particles underwater, and in conclusion we summarize the three tracking algorithms by comparing their pros and cons.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3550-3555
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

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