A Comparative Study Of Motion Estimation Techniques For Application To Sub-Sea Robotics

George T Russell; Stuart C Wells

doi:10.1117/12.939261

16 February 1984 A Comparative Study Of Motion Estimation Techniques For Application To Sub-Sea Robotics

George T Russell, Stuart C Wells

Proceedings Volume 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls; (1984) https://doi.org/10.1117/12.939261
Event: 1983 Cambridge Symposium, 1983, Cambridge, United States

Abstract

As the complexity of sub-sea maintenance and inspection tasks increases, and the search for further reserves of offshore oil goes into deeper and more hazardous environmental conditions, the need for autonomous working submersibles is increased. The total free swimming submersible system requires a scope that embraces the guidance and control of the vehicle and associated payload, the acquisition and processing of information, and the communication of that information between the vehicle and the surface operator. This paper describes an important aspect of the total system, namely, the technique employed in reducing the required bandwidth for the transmission of television pictures, through an acoustic communication link. In particular, the estimation of motion within an image sequence has been shown to offer a further refinement in bandwidth reduction when used in conjunction with interframe hybrid coding. Many competing techniques have been proposed in the literature. The objective of this study has been to compare a range of fundamental techniques, in order to optimise the communication system design for this particular application. An essential by-product of this investigation has been the development of a general image processing system that incorporates a set of interactive image processing modules and provides a real-time colour picture capture and display facility.

Citation Download Citation

George T Russell and Stuart C Wells "A Comparative Study Of Motion Estimation Techniques For Application To Sub-Sea Robotics", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); https://doi.org/10.1117/12.939261

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