AUTOMATIC OBJECT DETECTION FOR UNDERWATER CAMERAS
Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for automatic object detection for underwater cameras. In some implementations, an underwater camera captures many images which are obtained by a control unit. The control unit can detect one or more contours within a captured image based on values representing pixels of the image, generate a representation of the image based on the detected contours, provide the representation to a model that is trained to classify an input image as including a net or as not including a net, and perform an action based on classifying the image as including a net.
1 . A method comprising:
obtaining an image captured by an underwater camera;
detecting one or more contours within the image based on values representing pixels of the image;
generating a representation of the image based on the detected contours;
providing the representation to a model that is trained to classify an input image as including a net or as not including a net; and
performing an action based on the model classifying the image as including a net.
2 . The method of claim 1 , wherein the action comprises:
generating a movement command.
3 . The method of claim 2 , wherein the movement command is configured to move the underwater camera away from the net.
4 . The method of claim 1 , comprising training the model, wherein the training comprises:
providing, to the model, representations of images that include visual representations of nets; and
adjusting weights of the model based on output of the model processing the representations of the images compared to a label corresponding to the representations of the images.
5 . The method of claim 1 , wherein the model is a support vector machine (SVM).
6 . The method of claim 1 , wherein the representation of the image based on the detected contours comprises:
a histogram including each detected contour assigned to bins based on an area of each detected contour.
7 . The method of claim 1 , wherein the representation of the image based on the detected contours comprises:
a binary image showing contours in a first color and contour boundaries in a second color.
8 . The method of claim 1 , comprising:
obtaining a direction in which the underwater camera that captured the image is pointing; and
determining the action to perform based on the direction of the underwater camera.
9 . The method of claim 8 , wherein obtaining the direction comprises:
obtaining an identifier of the underwater camera; and
determining the direction the underwater camera is pointing based on a known location of the underwater camera on a submersible device and the identifier of the underwater camera.
10 . A non-transitory, computer-readable medium storing one or more instructions executable by a computer system to perform operations comprising:
obtaining an image captured by an underwater camera;
detecting one or more contours within the image based on values representing pixels of the image;
generating a representation of the image based on the detected contours;
providing the representation to a model that is trained to classify an input image as including a net or as not including a net; and
performing an action based on the model classifying the image as including a net.
11 . The non-transitory, computer-readable medium of claim 10 , wherein the action comprises:
generating a movement command.
12 . The non-transitory, computer-readable medium of claim 11 , wherein the movement command is configured to move the underwater camera away from the net.
13 . The non-transitory, computer-readable medium of claim 10 , comprising training the model, wherein the training comprises:
providing, to the model, representations of images that include visual representations of nets; and
adjusting weights of the model based on output of the model processing the representations of the images compared to a label corresponding to the representations of the images.
14 . The non-transitory, computer-readable medium of claim 10 , wherein the model is a support vector machine (SVM).
15 . The non-transitory, computer-readable medium of claim 10 , wherein the representation of the image based on the detected contours comprises:
a histogram including each detected contour assigned to bins based on an area of each detected contour.
16 . The non-transitory, computer-readable medium of claim 10 , wherein the representation of the image based on the detected contours comprises:
a binary image showing contours in a first color and contour boundaries in a second color.
17 . The non-transitory, computer-readable medium of claim 10 , comprising:
obtaining a direction in which the underwater camera that captured the image is pointing; and
determining the action to perform based on the direction of the underwater camera.
18 . The non-transitory, computer-readable medium of claim 17 , wherein obtaining the direction comprises:
obtaining an identifier of the underwater camera; and
determining the direction the underwater camera is pointing based on a known location of the underwater camera on a submersible device and the identifier of the underwater camera .
19 . A computer-implemented system, comprising:
one or more computers; and
one or more computer memory devices interoperably coupled with the one or more computers and having tangible, non-transitory, machine-readable media storing one or more instructions that, when executed by the one or more computers, perform one or more operations comprising:
obtaining an image captured by an underwater camera;
detecting one or more contours within the image based on values representing pixels of the image;
generating a representation of the image based on the detected contours;
providing the representation to a model that is trained to classify an input image as including a net or as not including a net; and
performing an action based on the model classifying the image as including a net.
20 . The system of claim 19 , wherein the action comprises:
generating a movement command.