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Underwater video mosaics as visual navigation maps (2000)
| Content Provider | CiteSeerX |
|---|---|
| Author | Gracias, Nuno Santos-Victor, José |
| Abstract | This paper presents a set of algorithms for the creation of underwater mosaics and illustrates their use as visual maps for underwater vehicle navigation. First, we describe the automatic creation of video mosaics, which deals with the problem of image motion estimation in a robust and automatic way. The motion estimation is based on a initial matching of corresponding areas over pairs of images, followed by the use of a robust matching technique, which can cope with an high percentage of incorrect matches. Several motion models, established under the projective geometry framework, allow for the creation of high quality mosaics where no assumptions are made about the camera motion. Several tests were run on underwater image sequences, testifying the good performance of the implemented matching and registration methods. Next, we deal with the issue of determining the 3D position and orientation of a vehicle from new views of a previously created mosaic. The problem of pose estimation is tackled, using the available information on the camera intrinsic parameters. This information ranges from the full knowledge to the case where they are estimated using a self-calibration technique based on the analysis of an image sequence captured under pure rotation. The performance of the 3D positioning algorithms is evaluated using images for which accurate ground-truth is available. Key Words: Video mosaics, underwater visual navigation, pose estimation. 1. |
| File Format | |
| Journal | Computer Vision and Image Understanding |
| Publisher Date | 2000-01-01 |
| Access Restriction | Open |
| Subject Keyword | Underwater Mosaic Implemented Matching Incorrect Match Underwater Visual Navigation Video Mosaic Underwater Vehicle Navigation Initial Matching Projective Geometry Framework Several Motion Model Underwater Image Sequence Automatic Creation Registration Method Image Motion Estimation Robust Matching Technique Accurate Ground-truth Pure Rotation Positioning Algorithm Full Knowledge High Quality Mosaic Visual Map Self-calibration Technique Underwater Video Mosaic Camera Intrinsic Parameter Visual Navigation Map |
| Content Type | Text |
| Resource Type | Article |
