Abstract
In recent years, there has been growing the need for observation systems by underwater robots in the aquatic environment research. Image sensing is in general a very effective way for observation, however, in subsea environment, bubbles, small fish and other floating matter may sometimes interfere with the field of view as scene occluders. This paper proposes a method for removing scene occluders from images by detecting moving objects with high speed camera. The method identifies different objects with feature values such as motion, size and color, and removes the scene occluders by using sequential images.
