T3.3.1.1 Image pre-processing

T3.3.1 Intelligent AUV mapping
T3.3.2 AUV-ASV Cooperation


Optical imaging has a series of advantages over other sensor type, most importantly, high spatial resolution and colour/texture information. However, in the underwater environment, the range of optical sensors and the quality of the resulting data is affected by light attenuation and scattering. For this reason, we will develop a series of techniques based on image dehazing that will improve the quality of the optical data. The goal is to increase the efficiency and accuracy of online target recognition and view planning and online 3D mapping and quality control. In this context, we will develop and implement computationally efficient optical dehazing techniques. Dehazing algorithms use the physical model of the light transmission to (partially compensate for light absorption and scattering), improving image visibility, as illustrated in the images below.

Images: Underwater image enhancement based on the image dehazing algorithm developed by UdG1*. Top-left areas depict the original images from scenes affected by light attenuation and scattering, while bottom-right areas depict our offline enhanced results. Based on these results, Coronis and UdG will develop a real-time dehazing algorithm within Eurofleets+.

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