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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bernicola, L. Gueriot, D. Le Caillec, J.-M. |
| Copyright Year | 2014 |
| Description | Author affiliation: LabSTICC, Inst. Mines Telecom - Telecom Bretagne, Brest, France (Bernicola, L.; Gueriot, D.; Le Caillec, J.-M.) |
| Abstract | This paper introduces a hybrid registration approach to build mosaics from side-scan sonar images. Due to specific acquisition procedure during surveys, standard SLAM techniques may not be robust enough to globally take into account a complete survey and correct sensor trajectories in order to properly georeference every pixel from all these images. iSAM algorithm has been fed with real side-scan images and shows interesting capabilities to produce corrected sensor trajectories allowing relevant coarse image registration, based on landmarks extraction and pairing. These trajectories will then guide a block-matching procedure that will refine these trajectories by finely matching only sonar images relevant areas. |
| Starting Page | 1 |
| Ending Page | 5 |
| File Size | 4361332 |
| Page Count | 5 |
| File Format | |
| e-ISBN | 9781479949182 |
| DOI | 10.1109/OCEANS.2014.7003160 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-09-14 |
| Publisher Place | Canada |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Trajectory Sonar Simultaneous localization and mapping Vehicles Feature extraction Image registration Sonar navigation Block Matching Side-scan Sonar Image Registration Image Mosaicing SLAM iSAM |
| Content Type | Text |
| Resource Type | Article |
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