Monitoring Aquatic Debris Using Smartphone-Based Robots

作者：Wang, Yu^*; Tan, Rui; Xing, Guoliang; Wang, Jianxun; Tan, Xiaobo; Liu, Xiaoming; Chang, Xiangmao

来源：IEEE Transactions on Mobile Computing, 2016, 15(6): 1412-1426.

DOI：10.1109/TMC.2015.2460240

• Robotic sensor
• aquatic debris
• smartphone
• computer vision
• object detection

Monitoring aquatic debris is of great interest to the ecosystems, marine life, human health, and water transport. This paper presents the design and implementation of SOAR-a vision-based surveillance robot system that integrates an off-the-shelf Android smartphone and a gliding robotic fish for debris monitoring in relatively calm waters. SOAR features real-time debris detection and coverage-based rotation scheduling algorithms. The image processing algorithms for debris detection are specifically designed to address the unique challenges in aquatic environments. The rotation scheduling algorithm provides effective coverage for sporadic debris arrivals despite camera's limited angular view. Moreover, SOAR is able to dynamically offload compute-intensive processing tasks to the cloud for battery power conservation. We have implemented a SOAR prototype and conducted extensive experimental evaluation. The results show that SOAR can accurately detect debris in the presence of various environment and system dynamics, and the rotation scheduling algorithm enables SOAR to capture debris arrivals with reduced energy consumption.

• 出版日期2016-6-1
• 单位南京航空航天大学