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 t...
| Autores: | , , |
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| Formato: | artículo |
| Fecha de publicación: | 2001 |
| País: | España |
| Recursos: | 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:10256/2315 |
| Acesso em linha: | http://hdl.handle.net/10256/2315 |
| Access Level: | acceso abierto |
| Palavra-chave: | Reconeixement òptic de formes Robots mòbils Robots submarins Visió per ordinador Computer vision Mobile robots Optical pattern recognition Underwater robots |
| Resumo: | 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 |
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