Where is your dive buddy: Tracking humans underwater using spatio-temporal features

Junaed Sattar, Gregory Dudek

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

24 Scopus citations

Abstract

We present an algorithm for underwater robots to track mobile targets, and specifically human divers, by detecting periodic motion. Periodic motion is typically associated with propulsion underwater and specifically with the kicking of human swimmers. By computing local amplitude spectra in a video sequence, we find the location of a diver in the robot's field of view. We use the Fourier transform to extract the responses of varying intensities in the image space over time to detect characteristic low frequency oscillations to identify an undulating flipper motion associated with typical gaits. In case of detecting multiple locations that exhibit large low-frequency energy responses, we combine the gait detector with other methods to eliminate false detections. We present results of our algorithm on open-ocean video footage of swimming divers, and also discuss possible extensions and enhancements of the proposed approach for tracking other objects that exhibit low-frequency oscillatory motion.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3654-3659
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

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  • Cite this

    Sattar, J., & Dudek, G. (2007). Where is your dive buddy: Tracking humans underwater using spatio-temporal features. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3654-3659). [4399527] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399527