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Ministerio de Ciencia e Innovación (Espanya) | |
Hurtós Vilarnau, Natà lia
Cufà i Solé, Xavier Petillot, Yvan R. Salvi, Joaquim |
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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 |
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http://hdl.handle.net/2072/296901 | |
eng | |
Institute of Electrical and Electronics Engineers (IEEE) | |
Tots els drets reservats | |
Imatges -- Processament
Image processing Vehicles submergibles Submersibles |
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Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing | |
info:eu-repo/semantics/article | |
Recercat |