Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing
dc.contributor.author
dc.date.accessioned
2015-12-02T10:35:53Z
dc.date.available
2015-12-02T10:35:53Z
dc.date.issued
2012
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2153-0858
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dc.description.abstract
This paper presents a method to build large-scale mosaics adapted to underwater sonar imagery. By assuming a simplified imaging model, we propose to address the registrations between images using Fourier-based methods which, unlike feature-based methods, prove well suited to handle the characteristics of forward-looking sonar images, such as low resolution, noise, occlusions and moving shadows. The registration between spatially and temporally distant images resulting from loop-closing situations or registrations in featureless areas are feasible, overcoming the main difficulties of feature-based methods. The problem is cast as a pose-based graph optimization, taking into account the uncertainties of the pairwise registrations and being able to incorporate navigation information. After the optimization, a consistent mosaic from different tracklines is generated with increased resolution and higher signal-to-noise ratio than the original images, while the vehicle motion in x,y and heading is also estimated. © 2012 IEEE.
dc.description.sponsorship
This work has been partially supported by the FP7-ICT-2011-7 project PANDORA (Ref 288273) funded by the European Commission, the Raimon project CTM2011-29691-C02-02 and the grant BES-2008-006095
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application/pdf
dc.language.iso
eng
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
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info:eu-repo/grantAgreement/MICINN//CTM2011-29691-C02-02/ES/ROBOT AUTONOMO SUBMARINO PARA LA INSPECCION Y MONITORIZACION DE EXPLOTACIONES DE ACUICULTURA MARINA/
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2012.6385813
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© IEEE International Conference on Intelligent Robots and Systems, 2012, p. 5298-5305
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.title
Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
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