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Perspectives of auto-correcting lens distortions in mosaic-based underwater navigation

When unmanned underwater vehicles (UUVs) perform missions near the ocean floor, optical sensors can be used to improve local navigation. Video mosaics allow to efficiently process the images acquired by the vehicle, and also to obtain position estimates. We discuss in this paper the role of lens distortions in this context, proving that degenerate mosaics have their origin not only in the selected motion model or in registration errors, but also in the cumulative effect of radial distortion residuals. Additionally, we present results on the accuracy of different feature-based approaches for self-correction of lens distortions that may guide the choice of appropriate techniques for correcting distortions

IEEE

Author: Elibol, Armagan
Moller, Birgit
García Campos, Rafael
Abstract: When unmanned underwater vehicles (UUVs) perform missions near the ocean floor, optical sensors can be used to improve local navigation. Video mosaics allow to efficiently process the images acquired by the vehicle, and also to obtain position estimates. We discuss in this paper the role of lens distortions in this context, proving that degenerate mosaics have their origin not only in the selected motion model or in registration errors, but also in the cumulative effect of radial distortion residuals. Additionally, we present results on the accuracy of different feature-based approaches for self-correction of lens distortions that may guide the choice of appropriate techniques for correcting distortions
Document access: http://hdl.handle.net/2072/58635
Language: eng
Publisher: IEEE
Rights: Tots els drets reservats
Subject: Algorismes computacionals
Robots autònoms
Vehicles submergibles
Autonomous robots
Computer algorithms
Submersibles
Title: Perspectives of auto-correcting lens distortions in mosaic-based underwater navigation
Type: info:eu-repo/semantics/article
Repository: Recercat

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