NDLI: Feature tracking and depth estimation in front-scan sonar image sequences

Content Provider	IEEE Xplore Digital Library
Author	Trucco, A. Curletto, S. Pescetto, A.
Copyright Year	2002
Description	Author affiliation: Dept. of Biophys. & Electron. Eng., Genoa Univ., Genova, Italy (Trucco, A.; Curletto, S.; Pescetto, A.)
Abstract	This paper describes a set of methods that make it possible to estimate the position of a feature inside a three-dimensional (3D) space by starting from a sequence of two-dimensional (2D) acoustic images of the seafloor acquired with a sonar system. The front-scan sonar devoted to generate a 2D image of the seafloor to sail over, and allows one to collect a sequence of images showing a specific feature during the approach of the ship. This fact seems to make it possible to recover the 3D position of a feature by comparing the feature position along the sequence of images acquired from different (known) ship positions. A feature extraction and analysis, a Kalman filter for robust feature tracking, and some ad hoc equations for depth estimation are proposed. Simulated image sequences demonstrated the great potential of the developed system, even though real sequences pointed out some inaccuracies due to errors concerning the knowledge of the ship position and the discrete image nature.
Starting Page	1306
Ending Page	1311
File Size	478059
Page Count	6
File Format	PDF
ISBN	0780375343
DOI	10.1109/OCEANS.2002.1191827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image sequences Sea floor Marine vehicles Sonar equipment Image generation Acoustic imaging Motion analysis Underwater acoustics Costs Computer applications
Content Type	Text
Resource Type	Article

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