• Login
    About WHOAS
    View Item 
    •   WHOAS Home
    • Woods Hole Oceanographic Institution
    • Academic Programs
    • WHOI Theses
    • View Item
    •   WHOAS Home
    • Woods Hole Oceanographic Institution
    • Academic Programs
    • WHOI Theses
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of WHOASCommunities & CollectionsBy Issue DateAuthorsTitlesKeywordsThis CollectionBy Issue DateAuthorsTitlesKeywords

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    Computational strategies for understanding underwater optical image datasets

    Thumbnail
    View/Open
    Kaeli_thesis.pdf (196.1Mb)
    Date
    2013-09
    Author
    Kaeli, Jeffrey W.  Concept link
    Metadata
    Show full item record
    Citable URI
    https://hdl.handle.net/1912/6237
    DOI
    10.1575/1912/6237
    Keyword
     Remote submersibles; Image analysis 
    Abstract
    A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical missions can generate imagery at rates hundreds of times greater than highly compressed images can be transmitted acoustically, delaying that understanding until after the vehicle has been recovered and the data analyzed. While automated classification algorithms can lessen the burden on human annotators after a mission, most are too computationally expensive or lack the robustness to run in situ on a vehicle. Fast algorithms designed for mission-time performance could lessen the latency of understanding by producing low-bandwidth semantic maps of the survey area that can then be telemetered back to operators during a mission. This thesis presents a lightweight framework for processing imagery in real time aboard a robotic vehicle. We begin with a review of pre-processing techniques for correcting illumination and attenuation artifacts in underwater images, presenting our own approach based on multi-sensor fusion and a strong physical model. Next, we construct a novel image pyramid structure that can reduce the complexity necessary to compute features across multiple scales by an order of magnitude and recommend features which are fast to compute and invariant to underwater artifacts. Finally, we implement our framework on real underwater datasets and demonstrate how it can be used to select summary images for the purpose of creating low-bandwidth semantic maps capable of being transmitted acoustically.
    Description
    Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2013
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    • WHOI Theses
    Suggested Citation
    Thesis: Kaeli, Jeffrey W., "Computational strategies for understanding underwater optical image datasets", 2013-09, DOI:10.1575/1912/6237, https://hdl.handle.net/1912/6237
     

    Related items

    Showing items related by title, author, creator and subject.

    • Thumbnail

      Fluxes, dynamics and chemistry of particulates in the ocean 

      Gardner, Wilford D. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1977-10)
      Sediment traps designed to yield quantitative data of particulate fluxes have been deployed and successfully recovered on four moorings in the deep sea. The traps were designed after extensive calibration of different ...
    • Thumbnail

      Laboratory measurements of the sound generated by breaking waves 

      Loewen, Mark Richard (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1991-12)
      Breaking waves dissipate energy, transfer momentum from the wind to surface currents and breaking enhances the transfer of gas and mass across the air-sea interface. Breaking waves are believed to be the dominant source ...
    • Thumbnail

      Dissolved inorganic and particulate iodine in the oceans 

      Wong, George T. F. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1976-02)
      Analytical methods have been developed for the determination of iodate, iodide and particulate iodine in sea water. Iodate is converted to tri-iodide and the absorbance of tri-iodide at 353 nm is measured. The precision ...
    All Items in WHOAS are protected by original copyright, with all rights reserved, unless otherwise indicated. WHOAS also supports the use of the Creative Commons licenses for original content.
    A service of the MBLWHOI Library | About WHOAS
    Contact Us | Send Feedback | Privacy Policy
    Core Trust Logo