A system to evaluate the accuracy of a visual mosaicking methodology
dc.contributor.author
dc.date.accessioned
2010-05-17T12:21:53Z
dc.date.available
2010-05-03T15:08:28Z
2010-05-17T12:21:53Z
dc.date.issued
2001
dc.identifier.citation
Garcia, R., Batlle, J., i Cufi, X. (2001). A system to evaluate the accuracy of a visual mosaicking methodology. OCEANS, 2001. MTS/IEEE Conference and Exhibition, 4, 2570-2576. Recuperat 1 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=968405
dc.identifier.isbn
0-933957-28-9
dc.identifier.uri
dc.description.abstract
When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/OCEANS.2001.968405
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© OCEANS, 2001, vol. 4, p. 2570-2576
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.subject
dc.title
A system to evaluate the accuracy of a visual mosaicking methodology
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi