CADDY is a collaborative project funded by the European Community's Seventh Framework Programme FP7 - Challenge 2: Cognitive Systems and Robotics - under grant agreement n° 611373.

Small or medium-scale focused research project (STREP)
Duration: 36 months (January 2014 – December 2016)
Budget: 4.881.103 € (EU contribution 3.679.931 €)
Researchers night, Zagreb 26th September 2014

EVENTS / Diver recording trials


Pag, Croatia, May 12-15 2014


Six divers, students of University of Zadar and participants in archaeological excavations in Caska on island of Pag, Croatia, have agreed to take part in initial CADDY data gathering May 12-15 conducted by researchers from UNIZG-FER and UNIVIE. The focus and main purpose of these experiments was to conduct initial testing of diver sensing equipment - stereo camera, multi-beam sonar and DiverNet - and to collect data for further research.


Stereo camera and multi-beam sonar were used to record divers diving in multiple directions. This data will be used to train the system to track the diver from both camera and sonar images. In second part  of the experiment divers were asked to show 20 gestures ("OK", "Low on air", "Danger" etc.), as well as digits and numbers symbols. The goal is to train the system to recognize these gestures and act accordingly on them.



DiverNet, a network of inertial sensors for human posture estimation, was tested for the first time in real-life conditions. The first step was to develop a system for mounting it on divers. Velcro stripes have been used with pretty successful results, but a number of disadvantages were quickly recognized and ideas for future improvement were discussed. Conducted tests are targeted on estimating divers' emotional state from posture. A first version of 3D diver model (a "stickman figure") was developed to provide a visualization tool. DiverNet is the first such system developed for underwater use.



Finally, breathing tests were conducted with 10 divers and 5 non-divers on surface. Each participant was asked to watch a video while breathing with and without regulator. In both cases some vital signals were also recorded. The aim of this test is to investigate the effect that the regulator has on breathing pattern.



Photos from the trial are available in the gallery.


© 2014 CADDY - FER