Acquisition of a Micro Scale Photographic Survey Using an Autonomous Submersible

Haywood, R. D.

doi:10.1109/oceans.1986.1160329

Cited by 15 publications

(8 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…2). One of the very earliest attempts at fusing underwater images to make a larger composite seafloor picture was published by Haywood (Haywood 1986). The simple method described did not take advantage of any image processing techniques but instead used the known vehicle offsets to merge the images in post processing.…”

Section: Mosaickingmentioning

confidence: 99%

Computer Vision Applications in the Navigation of Unmanned Underwater Vehicles

Horgan¹,

Toal²

2009

Underwater Vehicles

View full text Add to dashboard Cite

Section: Mosaickingmentioning

confidence: 99%

Computer Vision Applications in the Navigation of Unmanned Underwater Vehicles

Horgan¹,

Toal²

2009

Underwater Vehicles

View full text Add to dashboard Cite

“…This is addressed, for example, in Marks (1994) and Haywood (1986). Both these works present methods of creating mosaics automatically in real time, which is compatible with the on-line nature of our algorithm.…”

Section: Introductionmentioning

confidence: 99%

A terrain-covering algorithm for an AUV

1996

View full text Add to dashboard Cite

An efficient, on-line terrain-covering algorithm is presented for a robot (AUV) moving in an unknown three-dimensional underwater environment. Such an algorithm is necessary for producing mosaicked images of the ocean floor. The basis of this three-dimensional motion planning algorithm is a new planar algorithm for nonsimply connected areas with boundaries of arbitrary shape. We show that this algorithm generalizes naturally to complex three-dimensional environments in which the terrain to be covered is projectively planar. This planar algorithm represents an improvement over previous algorithms because it results in a shorter path length for the robot and does not assume a polygonal environment. The path length of our algorithm is shown to be linear in the size of the area to be covered; the amount of memory required by the robot to implement the algorithm is linear in the size of the description of the boundary of the area. An example is provided that demonstrates the algorithm's performance in a nonsimply connected, nonplanar environment.

show abstract

“…Underwater image mapping or mosaicking has been investigated since the late 1960s [1], [2], [3], [4], [5], [6]. It has been recognized as an important means to generate detailed underwater maps [7], [5] for example for surveying, i.e.…”

Section: Introductionmentioning

confidence: 99%

Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI-SLAM) in the Ligurian Sea

Pfingsthorn

Bülow

Birk

et al. 2013

2013 MTS/IEEE OCEANS - Bergen

View full text Add to dashboard Cite

Underwater image mosaicking is an important tool for visual surveys, object detection, and as a means to control the underwater robot if done online. In this paper, novel results of an spectral registration method on image data collected by a remotely operated vehicle in the Ligurian Sea are presented. The registration method computes 2D translation, rotation, and scale, along with a covariance matrix for these parameters. An appearance-based place recognition method is used to detect loops. These methods are embedded in a graph-based Simultaneous Localization and Mapping framework to provide a globally consistent and optimized map of the photographed ground.

show abstract

Acquisition of a Micro Scale Photographic Survey Using an Autonomous Submersible

Cited by 15 publications

References 10 publications

Computer Vision Applications in the Navigation of Unmanned Underwater Vehicles

Computer Vision Applications in the Navigation of Unmanned Underwater Vehicles

A terrain-covering algorithm for an AUV

Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI-SLAM) in the Ligurian Sea

Contact Info

Product

Resources

About