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Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

© IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 2001, vol. 3, p. 2779-2784

IEEE

Autor: García Campos, Rafael
Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
Amat i Girbau, Josep
Data: 2001
Resum: Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle
Format: application/pdf
Cita: García, R., Batlle, J., Cufí, X., i Amat, J. (2001). Positioning an underwater vehicle through image mosaicking. IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 3, 2779 - 2784. Recuperat 18 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=933043
ISBN: 0-7803-6576-3
ISSN: 1050-4729
Accés al document: http://hdl.handle.net/10256/2310
Llenguatge: eng
Editor: IEEE
Col·lecció: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ROBOT.2001.933043
Articles publicats (D-ATC)
És part de: © IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 2001, vol. 3, p. 2779-2784
Drets: Tots els drets reservats
Matèria: Imatges -- Segmentació
Visió per ordinador
Computer vision
Image processing
Títol: Positioning an underwater vehicle through image mosaicking
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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