A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The u...

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Detalles Bibliográficos
Autores: García Campos, Rafael, Batlle i Grabulosa, Joan, Cufí i Solé, Xavier
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:10256/2303
Acceso en línea:http://hdl.handle.net/10256/2303
Access Level:acceso abierto
Palabra clave:Algorismes computacionals
Robots mòbils
Vehicles submergibles
Visió per ordinador
Computer algorithms
Computer vision
Mobile robots
Submersibles
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spelling A system to evaluate the accuracy of a visual mosaicking methodologyGarcía Campos, RafaelBatlle i Grabulosa, JoanCufí i Solé, XavierAlgorismes computacionalsRobots mòbilsVehicles submergiblesVisió per ordinadorComputer algorithmsComputer visionMobile robotsSubmersiblesWhen underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking systemIEEE2001info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10256/2303http://hdl.handle.net/10256/2303© OCEANS, 2001, vol. 4, p. 2570-2576Articles 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/OCEANS.2001.968405info:eu-repo/semantics/altIdentifier/isbn/0-933957-28-9Tots els drets reservatsinfo:eu-repo/semantics/openAccessoai:recercat.cat:10256/23032026-05-29T05:05:01Z
dc.title.none.fl_str_mv A system to evaluate the accuracy of a visual mosaicking methodology
title A system to evaluate the accuracy of a visual mosaicking methodology
spellingShingle A system to evaluate the accuracy of a visual mosaicking methodology
García Campos, Rafael
Algorismes computacionals
Robots mòbils
Vehicles submergibles
Visió per ordinador
Computer algorithms
Computer vision
Mobile robots
Submersibles
title_short A system to evaluate the accuracy of a visual mosaicking methodology
title_full A system to evaluate the accuracy of a visual mosaicking methodology
title_fullStr A system to evaluate the accuracy of a visual mosaicking methodology
title_full_unstemmed A system to evaluate the accuracy of a visual mosaicking methodology
title_sort A system to evaluate the accuracy of a visual mosaicking methodology
dc.creator.none.fl_str_mv García Campos, Rafael
Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
author García Campos, Rafael
author_facet García Campos, Rafael
Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
author_role author
author2 Batlle i Grabulosa, Joan
Cufí i Solé, Xavier
author2_role author
author
dc.subject.none.fl_str_mv Algorismes computacionals
Robots mòbils
Vehicles submergibles
Visió per ordinador
Computer algorithms
Computer vision
Mobile robots
Submersibles
topic Algorismes computacionals
Robots mòbils
Vehicles submergibles
Visió per ordinador
Computer algorithms
Computer vision
Mobile robots
Submersibles
description When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system
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/10256/2303
http://hdl.handle.net/10256/2303
url http://hdl.handle.net/10256/2303
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/OCEANS.2001.968405
info:eu-repo/semantics/altIdentifier/isbn/0-933957-28-9
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 © OCEANS, 2001, vol. 4, p. 2570-2576
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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