TY - GEN
T1 - Where is your dive buddy
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
AU - Sattar, Junaed
AU - Dudek, Gregory
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349163492&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349163492&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399527
DO - 10.1109/IROS.2007.4399527
M3 - Conference contribution
AN - SCOPUS:51349163492
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3654
EP - 3659
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -