Color Image Segmentation Algorithm for Autonomous Underwater Vehicles
Artemii Mametev, Alexander Pavin · 2024
This paper describes an algorithm for color segmentation of images obtained by the computer vision system of an autonomous underwater vehicle. The main goal of image segmentation is further detection of the desired object in a photo. The essence of the algorithm lies in constructing histograms of pixel value distributions in the HSV color model. The ratio of such histograms between the detected object and the predominant background allows to highlight (locate) the target object. The advantages of the developed algorithm include high speed of image processing (only a single pass through the image is required), fast training (single pass through the whole training set), and ease of implementation. The paper provides examples of the algorithm's performance on real photographic images obtained by an underwater vehicle's imaging system, designed for student training and for participating in underwater robotics sports events.