A new global alignment approach for underwater optical mapping
dc.contributor.author
dc.date.accessioned
2015-03-24T16:05:32Z
dc.date.available
2015-03-24T16:05:32Z
dc.date.issued
2011
dc.identifier.issn
0029-8018
dc.identifier.uri
dc.description.abstract
Lately, underwater vehicles have become important tools for exploration, monitoring and creation of maps of the seabed. Within mapping applications, the maps obtained from optical data are becoming essential in different study areas such as biological, geological and archaeological surveys, or in detection of benthic temporal changes. However, the underwater medium is very challenging for optical sensors and does not allow the area of interest to be imaged in a single image. Therefore, image mosaicing methods are necessary. Although recent advances in detection of correspondences between images have resulted in highly effective image registration methods, global alignment methods are still needed to obtain a globally coherent mosaic. In this paper, we propose a new global alignment method which works on the mosaic frame and does not require non-linear optimisation. Additionally, a simple image rectifying method is presented to reduce the down-scaling effect which might occur when minimising errors defined in the mosaic frame. Moreover, this rectifying method can also be seen as an alternative and straightforward way of incorporating different sensor information if available. The proposed framework has been tested with underwater image sequences. The resulting method is faster than its counterparts while providing the same level of registration quality
dc.description.sponsorship
This work was partially funded through the Spanish Ministry of Education and Science (MCINN) under grant CTM2010-15216, EU Project FP7-ICT-2009-248497. Armagan Elibol was funded by Generalitat de Catalunya under grant 2004FI-IQUC1/00130. Nuno Gracias was supported by MCINN under the Ramon y Cajal program
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Elsevier
dc.relation
info:eu-repo/grantAgreement/MICINN//CTM2010-15216/ES/SISTEMA DE CONSTRUCCION DE MAPAS MULTIMODALES PARA LA CARACTERIZACION DEL FONDO MARINO MEDIANTE LA UTILIZACION DE UN ROBOT AUTONOMO/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1016/j.oceaneng.2011.05.013
dc.relation.ispartof
© Ocean Engineering, 2011, vol. 38, p. 1207-1219
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
A new global alignment approach for underwater optical mapping
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/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
015025
dc.contributor.funder
dc.relation.FundingProgramme
dc.relation.ProjectAcronym