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 cre...

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Detalles Bibliográficos
Autores: García Campos, Rafael, Batlle i Grabulosa, Joan, Cufí i Solé, Xavier, Amat i Girbau, Josep
Tipo de recurso: artículo
Fecha de publicación:2001
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/2310
Acceso en línea:http://hdl.handle.net/10256/2310
Access Level:acceso abierto
Palabra clave:Imatges -- Segmentació
Visió per ordinador
Computer vision
Image processing
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spelling Positioning an underwater vehicle through image mosaickingGarcía Campos, RafaelBatlle i Grabulosa, JoanCufí i Solé, XavierAmat i Girbau, JosepImatges -- SegmentacióVisió per ordinadorComputer visionImage processingMosaics 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 vehicleIEEE2001info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10256/2310http://hdl.handle.net/10256/2310© IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 2001, vol. 3, p. 2779-2784Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.1109/ROBOT.2001.933043info:eu-repo/semantics/altIdentifier/issn/1050-4729info:eu-repo/semantics/altIdentifier/isbn/0-7803-6576-3Tots els drets reservatsinfo:eu-repo/semantics/openAccessoai:recercat.cat:10256/23102026-05-29T05:05:01Z
dc.title.none.fl_str_mv Positioning an underwater vehicle through image mosaicking
title Positioning an underwater vehicle through image mosaicking
spellingShingle Positioning an underwater vehicle through image mosaicking
García Campos, Rafael
Imatges -- Segmentació
Visió per ordinador
Computer vision
Image processing
title_short Positioning an underwater vehicle through image mosaicking
title_full Positioning an underwater vehicle through image mosaicking
title_fullStr Positioning an underwater vehicle through image mosaicking
title_full_unstemmed Positioning an underwater vehicle through image mosaicking
title_sort Positioning an underwater vehicle through image mosaicking
dc.creator.none.fl_str_mv García Campos, Rafael
Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
Amat i Girbau, Josep
author García Campos, Rafael
author_facet García Campos, Rafael
Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
Amat i Girbau, Josep
author_role author
author2 Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
Amat i Girbau, Josep
author2_role author
author
author
dc.subject.none.fl_str_mv Imatges -- Segmentació
Visió per ordinador
Computer vision
Image processing
topic Imatges -- Segmentació
Visió per ordinador
Computer vision
Image processing
description 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
publishDate 2001
dc.date.none.fl_str_mv 2001
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/2310
http://hdl.handle.net/10256/2310
url http://hdl.handle.net/10256/2310
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/ROBOT.2001.933043
info:eu-repo/semantics/altIdentifier/issn/1050-4729
info:eu-repo/semantics/altIdentifier/isbn/0-7803-6576-3
dc.rights.none.fl_str_mv Tots els drets reservats
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Tots els drets reservats
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv © IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 2001, vol. 3, p. 2779-2784
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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