Stereo Measurement of Water Position Using Change of Polarization Information by Fluctuation of Water Surface

Abstract

When using a mobile robot in an environment where there is a possibility of submersion, it is necessary to detect the water hazard as an obstacle. Since the water hazard has different characteristics from ordinary obstacles, there is a method using polarization as its detection method. However, when a still image was used, the detection became difficult due to the movement of the water surface. In this research, we propose the water hazard detection method using the polarization video and the background subtraction method, and also utilize the polarized information to enhance the accuracy of the stereo measurement by reducing false matchings.