Carnegie Mellon University

Aquabyte, Inc.

Stephen Nuske

Darryl Weatherspoon

Sebastian Scherer

Song Yu

Zania Pothen

Mochi Liu

Bassem Youssef

A system and method involve determining a policy for positioning an underwater camera in an aquaculture environment. The system and method include receiving data on previous camera positioning actions and results, using this data to determine a new camera positioning action policy, receiving a request to choose a camera positioning action based on the new policy, determining a specific camera positioning action based on the policy, and providing the chosen action in response to the request.

Position policy determination for underwater camera positioning in an aquaculture environment

A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update.

State estimation for aerial vehicles using multi-sensor fusion

This invention relates to a system and method for detecting the curved surfaces of fruit using a flash and camera system and automated image analysis. Lighting upon fruit is controlled, with a flash or multiple flashes positioned beside the camera illuminate the fruit. The flash causes a strong specular reflectance at the center of curved fruit (such as apples, grapes, or avocados, among others). From this point of specular reflectance, pixel intensity decreases steadily toward the edges of curved fruit. The method searches the images to find points of specular reflectance surrounded by curved shaded regions belonging to the curved fruit and can detect fruit of various sizes and scales within image.

Methods and system for detecting curved fruit with flash and camera and automated image analysis with invariance to scale and partial occlusions

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Pittsburgh, PA, United States of America

Stephen Nuske