@inproceedings{30807add24a243dba88083885146f14a,
title = "An underwater pipeline tracking system for amphibious spherical robots",
abstract = "Based on monocular camera, an underwater detection and tracking system for amphibious spherical robot is proposed to realize autonomous cruise of underwater pipelines. Firstly, according to the imaging characteristics of underwater image, the image of pipeline is detected by image binarization, edge detection and Hough transform. And then, the Kalman filter was carried out according to the edge information and the underwater pipeline was tracked. The control scheme of the visual system to the amphibious spherical robot was improved, and the tracking pipe motion of the amphibious robot is controlled by PID algorithm. Finally, we carried out some experiments under different scenes to demonstrate the effectiveness of the proposed underwater pipeline tracking system, and the experimental results showed that the proposed underwater pipeline tracking algorithm has good robustness and real - time performance.",
keywords = "Amphibious Spherical Robot, Kalman Filter, PID Control, Pipeline Inspection, Pipeline Tracking",
author = "Liwei Shi and Zhan Chen and Shuxiang Guo and Ping Guo and Yanlin He and Shaowu Pan and Huiming Xing and Shuxiang Su and Kun Tang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",
year = "2017",
month = aug,
day = "23",
doi = "10.1109/ICMA.2017.8016020",
language = "English",
series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1390--1395",
booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
address = "United States",
}