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Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing

This paper presents a method to build large-scale mosaics adapted to underwater sonar imagery. By assuming a simplified imaging model, we propose to address the registrations between images using Fourier-based methods which, unlike feature-based methods, prove well suited to handle the characteristics of forward-looking sonar images, such as low resolution, noise, occlusions and moving shadows. The registration between spatially and temporally distant images resulting from loop-closing situations or registrations in featureless areas are feasible, overcoming the main difficulties of feature-based methods. The problem is cast as a pose-based graph optimization, taking into account the uncertainties of the pairwise registrations and being able to incorporate navigation information. After the optimization, a consistent mosaic from different tracklines is generated with increased resolution and higher signal-to-noise ratio than the original images, while the vehicle motion in x,y and heading is also estimated. © 2012 IEEE.

This work has been partially supported by the FP7-ICT-2011-7 project PANDORA (Ref 288273) funded by the European Commission, the Raimon project CTM2011-29691-C02-02 and the grant BES-2008-006095

© IEEE International Conference on Intelligent Robots and Systems, 2012, p. 5298-5305

Institute of Electrical and Electronics Engineers (IEEE)

Author: Hurtós Vilarnau, Natàlia
Cufí i Solé, Xavier
Petillot, Yvan R.
Salvi, Joaquim
Date: 2012
Abstract: This paper presents a method to build large-scale mosaics adapted to underwater sonar imagery. By assuming a simplified imaging model, we propose to address the registrations between images using Fourier-based methods which, unlike feature-based methods, prove well suited to handle the characteristics of forward-looking sonar images, such as low resolution, noise, occlusions and moving shadows. The registration between spatially and temporally distant images resulting from loop-closing situations or registrations in featureless areas are feasible, overcoming the main difficulties of feature-based methods. The problem is cast as a pose-based graph optimization, taking into account the uncertainties of the pairwise registrations and being able to incorporate navigation information. After the optimization, a consistent mosaic from different tracklines is generated with increased resolution and higher signal-to-noise ratio than the original images, while the vehicle motion in x,y and heading is also estimated. © 2012 IEEE.
This work has been partially supported by the FP7-ICT-2011-7 project PANDORA (Ref 288273) funded by the European Commission, the Raimon project CTM2011-29691-C02-02 and the grant BES-2008-006095
Format: application/pdf
ISSN: 2153-0858
Document access: http://hdl.handle.net/10256/11631
Language: eng
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Collection: MICINN/PN 2012-2014/CTM2011-29691-C02-02
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2012.6385813
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288273
Is part of: © IEEE International Conference on Intelligent Robots and Systems, 2012, p. 5298-5305
Rights: Tots els drets reservats
Subject: Imatges -- Processament
Image processing
Vehicles submergibles
Submersibles
Title: Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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