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ICRA
2010
IEEE

3D reconstruction of fish schooling kinematics from underwater video

13 years 3 months ago
3D reconstruction of fish schooling kinematics from underwater video
This paper describes a probabilistic framework to estimate the shape and position of multiple fish in a school. We model the fish shape as an ellipsoid with a curvature coefficient that allows us to incorporate bending. An expression for the extremal contour in terms of state parameters is used to derive a likelihood function for shape. We present a motion model that uses curvature as an input to the turning rate. Tracking is performed using a particle filter with joint probabilistic data association. We evaluate our algorithm using simulated data and further characterize its performance using real data from a laboratory experiment with six giant danios.
Sachit Butail, Derek A. Paley
Added 13 Feb 2011
Updated 13 Feb 2011
Type Journal
Year 2010
Where ICRA
Authors Sachit Butail, Derek A. Paley
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