Online Acoustic Exchange of Compressed Images Between Underwater Robots

Abstract

[eng] Due to the need for transmitting online images of the seabed with an autonomous underwater vehicle, it has been decided to integrate the DEBT and SPIHT image compression algorithms, by running their executable files inside python ROS nodes, on a previous work done to exchange JPEG2000 compressed images between underwater robots using an acoustic channel. For this purpose, image compression and decompression have been modified, functionalities have been added to evaluate the loss of visual information with the root mean square error (RMSE) and the size of the compressed images. From this, a calibration of the compression parameters has also been implemented for each algorithm from a given level of visual information loss. In this way, the performance of each algorithm according to the size of the compressed images and the transmission time of the images can be evaluated through various tests.