NDLI: 3D reconstruction of underwater scenes using DIDSON acoustic sonar image sequences through evolutionary algorithms

Content Provider	IEEE Xplore Digital Library
Author	Brahim, N. Gueriot, D. Daniel, S. Solaiman, B.
Copyright Year	2011
Description	Author affiliation: Institut TELECOM; TELECOM Bretagne, Technopôle Brest-Iroise, CS 83818, 29238 Brest Cedex 3, France (Brahim, N.; Gueriot, D.; Solaiman, B.) \|\| Département des sciences géomatiques, Université Laval, Québec, Canada (Daniel, S.)
Abstract	This paper introduces a methodology to reconstruct underwater environment using two images of the same scene, acquired by an acoustical camera from different points of view. The final target of the work is to produce a full 3D representation of the observed environment to improve its exploration and analysis. Indeed, as the DIDSON acoustic camera provides sequences of 2D images (distance and azimuth), the challenge consists in determining the missing elevation information about the observed scene in order to reconstruct (x, y, z) models, through the computation of the geometrical transformation between the acquisition view points, using image information only. Our research work is divided in two important steps. The first step which is feature point extraction allows robust and shape representative point extraction [1]. The second step presented in this paper uses these specific points appearing on two images and paired accordingly, to determine camera motion (rotation and translation) between the two acquisitions, and points missing elevation in order to reconstruct the observed scene. Due to the problem high-dimensional search space (6 camera motion parameters plus one elevation per pair of points), we propose to achieve the search using CMA-ES optimization algorithm. This stereovision-like optimization procedure assumes a known camera model. The first topic in this paper tries to check the good behavior of the supposed camera model in order to be sure that extracted points from images are robust enough and not affected by extra camera distortions. A set of DIDSON images have been acquired in the Laval University pool and used to perform such a verification, with various objects (wooden boxes and grid) observed from different points of view. Finally, using extracted pairs of points coming from two images, the proposed algorithm is able to retrieve the local relative geometry of the observed scene through the estimation of the missing elevations.
Starting Page	1
Ending Page	6
File Size	1067497
Page Count	6
File Format	PDF
ISBN	9781457700866
e-ISBN	9781457700880
DOI	10.1109/Oceans-Spain.2011.6003666
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Three dimensional displays Acoustics Mathematical model Image reconstruction Feature extraction Azimuth CMA-ES 3D reconstruction acoustic camera contour extraction feature matching evolutionary algorithms
Content Type	Text
Resource Type	Article

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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
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