NDLI: Computer vision in AUVs: automatic roto-rectification of stereo images

Content Provider	IEEE Xplore Digital Library
Author	Zelasco, J.F. Dagum, D.A. Donayo, J. Arcomano, T.
Copyright Year	2000
Description	Author affiliation: Lab. de Vision Estereo, Buenos Aires Univ., Argentina (Zelasco, J.F.)
Abstract	This work has been developed in the framework of a project of stereo vision for autonomous underwater vehicles (AUVs) provided with optical sensors. To obtain a numerical model of an underwater scene of more precision than the one that would be obtained starting from a couple of simultaneous images, we should re-calculate starting from two images taken in consecutive way. The increase of the distance among the points of view would improve this precision. Normally, in consecutive exposures, the lines of bitmaps do not coincide with the epipolar lines as in case of simultaneous images from calibrated sensors. This complicates the search of homologous points. Parameters of relative rotation and translation of two consecutive images are approximately known. To know them with more accuracy allows us to carry out the image roto-rectification and to use the results. Obtaining knowledge of a certain number of couples of homologous points, we can calculate with enough precision the relative rotation parameters in order to proceed with image roto-rectification, obtaining a new image couple where epipolar lines match with bitmap lines. This involves three major steps. The first one concerns the obtention of relative orientation among components of a stereo couple. This relative orientation is then used to find an optimal plane to minimize deformation when projecting images. Finally, the projection itself of the couple over an optimal plane is found. Then, it is possible to apply the 3D reconstruction process. In conclusion, given any stereo pair of images, the whole process of 3-D numeric model obtention can be automated.
Starting Page	2169
Ending Page	2176
File Size	697619
Page Count	8
File Format	PDF
ISBN	0780365518
DOI	10.1109/OCEANS.2000.882255
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-09-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Stereo vision Layout Numerical models Optical sensors Image sensors Image reconstruction Laboratories Underwater vehicles Sensor systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in