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Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2001 : Proceedings, 2001, vol. 3, p. 1682-1687

IEEE

Author: García Campos, Rafael
Cufí i Solé, Xavier
Carreras Pérez, Marc
Date: 2001
Abstract: When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot
Format: application/pdf
Citation: García, R., Cufí, X., i Carreras, M. (2001). Estimating the motion of an underwater robot from a monocular image sequence. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2001 : Proceedings, 3, 1682-1687. Recuperat 19 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=977220
ISBN: 0-7803-6612-3
Document access: http://hdl.handle.net/10256/2315
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2001.977220
Articles publicats (D-ATC)
Is part of: © IEEE/RSJ International Conference on Intelligent Robots and Systems : 2001 : Proceedings, 2001, vol. 3, p. 1682-1687
Rights: Tots els drets reservats
Subject: Reconeixement òptic de formes
Robots mòbils
Robots submarins
Visió per ordinador
Computer vision
Mobile robots
Optical pattern recognition
Underwater robots
Title: Estimating the motion of an underwater robot from a monocular image sequence
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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