Visual tracking of jellyfish in situ

摘要

Marine biologists desire an automated system for observing gelatinous zooplankton. This study represents the first attempt at real-time robotic tracking of a gelatinous animal in the open ocean. Challenges stem from uneven lighting, encounters with other marine life and frequent out-of-frame events. Analysis of a large video library of human-controlled jelly tracking supported selection of an appropriate vision algorithm. The vision architecture was implemented as an ROV pilot aid and tested at 600 m below the surface of Monterey Bay.