Fast topology estimation for image mosaicing using adaptive information thresholding
dc.contributor.author
dc.date.accessioned
2013-12-03T10:38:08Z
dc.date.available
2013-12-03T10:38:08Z
dc.date.issued
2013
dc.identifier.issn
0921-8890
dc.identifier.uri
dc.description.abstract
Over the past decade, several image mosaicing methods have been proposed in robotic mapping and remote sensing applications. Owing to rapid developments in obtaining optical data from areas beyond human reach, there is a high demand from different science fields for creating large-area image mosaics, often using images as the only source of information. One of the most important steps in the mosaicing process is motion estimation between overlapping images to obtain the topology, i.e., the spatial relationships between images. In this paper, we propose a generic framework for feature-based image mosaicing capable of obtaining the topology with a reduced number of matching attempts and of getting the best possible trajectory estimation. Innovative aspects include the use of a fast image similarity criterion combined with a Minimum Spanning Tree (MST) solution, to obtain a tentative topology and information theory principles to decide when to update trajectory estimation. Unlike previous approaches for large-area mosaicing, our framework is able to naturally deal with the cases where time-consecutive images cannot be matched successfully, such as completely unordered sets. This characteristic also makes our approach robust to sensor failure. The performance of the method is illustrated with experimental results obtained from different challenging underwater image sequences
dc.description.sponsorship
This work was partially funded through EU project FP7-ICT-2011-288704 (Morph), the Spanish Ministry of Science and Innovation (MCINN) under grant CTM2010-15216 (MuMap), and by the US DoD/DoE/EPA/ESTCP project SI2010. 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/
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Reproducció digital del document publicat a: http://dx.doi.org/10.1016/j.robot.2012.10.010
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© Robotics and Autonomous Systems, 2013, vol. 61, núm. 2, p. 125-136
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.title
Fast topology estimation for image mosaicing using adaptive information thresholding
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/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
017211
dc.contributor.funder
dc.relation.FundingProgramme
dc.relation.ProjectAcronym