Underwater mosaicing and trajectory reconstruction using global alignment

Gracias, Nuno; Santos-Victor, José

doi:10.1109/oceans.2001.968403

Cited by 52 publications

(28 citation statements)

References 15 publications

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“…For image mosaicing, the key issue is solving the global alignment problem by finding optimal motion parameters, from which absolute homographies can be computed. An application of BA to image mosaicing can be found in [78,46]. Gracias et al [46] proposed to minimise a cost function defined as follows:…”

Section: Review Of Global Alignment Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Efficient Topology Estimation for Large Scale Optical Mapping

Elibol¹,

Gracias²,

García³

2013

Springer Tracts in Advanced Robotics

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ADVERTIMENT. La consulta d'aquesta tesi queda condicionada a l'acceptació de les següents condicions d'ús: La difusió d'aquesta tesi per mitjà del servei TDX ha estat autoritzada pels titulars dels drets de propietat intel·lectual únicament per a usos privats emmarcats en activitats d'investigació i docència. No s'autoritza la seva reproducció amb finalitats de lucre ni la seva difusió i posada a disposició des d'un lloc aliè al servei TDX. No s'autoritza la presentació del seu contingut en una finestra o marc aliè a TDX (framing). Aquesta reserva de drets afecta tant al resum de presentació de la tesi com als seus continguts. En la utilització o cita de parts de la tesi és obligat indicar el nom de la persona autora.ADVERTENCIA. La consulta de esta tesis queda condicionada a la aceptación de las siguientes condiciones de uso: La difusión de esta tesis por medio del servicio TDR ha sido autorizada por los titulares de los derechos de propiedad intelectual únicamente para usos privados enmarcados en actividades de investigación y docencia. No se autoriza su reproducción con finalidades de lucro ni su difusión y puesta a disposición desde un sitio ajeno al servicio TDR. No se autoriza la presentación de su contenido en una ventana o marco ajeno a TDR (framing). Esta reserva de derechos afecta tanto al resumen de presentación de la tesis como a sus contenidos. En la utilización o cita de partes de la tesis es obligado indicar el nombre de la persona autora. WARNING.On having consulted this thesis you're accepting the following use conditions: Spreading this thesis by the TDX service has been authorized by the titular of the intellectual property rights only for private uses placed in investigation and teaching activities. Reproduction with lucrative aims is not authorized neither its spreading and availability from a site foreign to the TDX service. Introducing its content in a window or frame foreign to the TDX service is not authorized (framing). This rights affect to the presentation summary of the thesis as well as to its contents. In the using or citation of parts of the thesis it's obliged to indicate the name of the author. PhD AbstractLarge scale image mosaicing methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost Remotely operated vehicles (ROVs) usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a downlooking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source.This thesis presents a set of consistent methods a...

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Section: Review Of Global Alignment Methodsmentioning

confidence: 99%

“…An application of BA to image mosaicing can be found in [78,46]. Gracias et al [46] proposed to minimise a cost function defined as follows:…”

Section: Review Of Global Alignment Methodsmentioning

confidence: 99%

Efficient Topology Estimation for Large Scale Optical Mapping

Elibol¹,

Gracias²,

García³

2013

Springer Tracts in Advanced Robotics

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“…Historically, most applications have used 2D mosaics for vision-aided navigation [12]. JohnsonRoberson et al [2] argue that the rugged terrain of the seafloor necessitates projecting the imagery onto 3D models to properly account for the geometry, rather than force-fitting a plane to a non-planar environment.…”

Section: A Related Workmentioning

confidence: 99%

Building 3D mosaics from an Autonomous Underwater Vehicle, Doppler velocity log, and 2D imaging sonar

Ozog

Troni

Kaess

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-This paper reports on a 3D photomosaicing pipeline using data collected from an autonomous underwater vehicle performing simultaneous localization and mapping (SLAM). The pipeline projects and blends 2D imaging sonar data onto a large-scale 3D mesh that is either given a priori or derived from SLAM. Compared to other methods that generate a 2D-only mosaic, our approach produces 3D models that are more structurally representative of the environment being surveyed. Additionally, our system leverages recent work in underwater SLAM using sparse point clouds derived from Doppler velocity log range returns to relax the need for a prior model. We show that the method produces reasonably accurate surface reconstruction and blending consistency, with and without the use of a prior mesh. We experimentally evaluate our approach with a Hovering Autonomous Underwater Vehicle (HAUV) performing inspection of a large underwater ship hull.

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“…Corner detection is a well-researched field, with corners widely used as point features for visual reconstruction [9] and Simultaneous Localisation and Mapping (SLAM) [21]. A basic definition of a corner can be based on curvature or intensity discontinuity of edges.…”

Section: Introductionmentioning

confidence: 99%

Efficient active monocular fixation using the log-polar sensor

Yeung¹,

Barnes²

2005

IJISTA

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Abstract-This paper applies a sensor which has been developed based on a model of primate vision to corner fixation. Fixation is critical for the log-polar sensor as many of the sensor's advantages are demonstrated only under fixation. This paper presents a fast corner fixation algorithm using the log-Hough transform to find the dominant centre-most corner and aligning the optical axis with the corner. The algorithm has been implemented in a real-time closed-loop control system on a pan-tilt platform, This paper demonstrates an important benefit of the log-polar sensor with vote-based algorithms, an emphasis of foveal pixels. This removes the need for searching explicitly through all detected corner positions in order to locate the most central. In addition, since the sensor has a large field of view for a given number of pixels compared to space-invariant cameras, it shows increased computational performance, while still supporting accurate fixation.

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Underwater mosaicing and trajectory reconstruction using global alignment

Cited by 52 publications

References 15 publications

Efficient Topology Estimation for Large Scale Optical Mapping

Efficient Topology Estimation for Large Scale Optical Mapping

Building 3D mosaics from an Autonomous Underwater Vehicle, Doppler velocity log, and 2D imaging sonar

Efficient active monocular fixation using the log-polar sensor

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