Positioning an underwater vehicle through image mosaicking
dc.contributor.author
dc.date.accessioned
2010-05-18T10:19:10Z
dc.date.available
2010-05-03T15:08:34Z
2010-05-18T10:19:10Z
dc.date.issued
2001
dc.identifier.citation
García, R., Batlle, J., Cufí, X., i Amat, J. (2001). Positioning an underwater vehicle through image mosaicking. IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 3, 2779 - 2784. Recuperat 18 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=933043
dc.identifier.isbn
0-7803-6576-3
dc.identifier.issn
1050-4729
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dc.description.abstract
Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ROBOT.2001.933043
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© IEEE International Conference on Robotics and Automation : 2001 : Proceedings 2001 ICRA, 2001, vol. 3, p. 2779-2784
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.title
Positioning an underwater vehicle through image mosaicking
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi