{ "dc.contributor.author": "Hurtós Vilarnau, Natàlia" , "dc.contributor.author": "Cufí i Solé, Xavier" , "dc.contributor.author": "Petillot, Yvan R." , "dc.contributor.author": "Salvi, Joaquim" , "dc.date.accessioned": "2015-12-02T10:35:53Z" , "dc.date.available": "2015-12-02T10:35:53Z" , "dc.date.issued": "2012" , "dc.identifier.issn": "2153-0858" , "dc.identifier.uri": "http://hdl.handle.net/10256/11631" , "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" , "dc.format.mimetype": "application/pdf" , "dc.language.iso": "eng" , "dc.publisher": "Institute of Electrical and Electronics Engineers (IEEE)" , "dc.relation": "MICINN/PN 2012-2014/CTM2011-29691-C02-02" , "dc.relation.isformatof": "Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2012.6385813" , "dc.relation.ispartof": "© IEEE International Conference on Intelligent Robots and Systems, 2012, p. 5298-5305" , "dc.relation.ispartofseries": "Articles publicats (D-ATC)" , "dc.rights": "Tots els drets reservats" , "dc.subject": "Imatges -- Processament" , "dc.subject": "Image processing" , "dc.subject": "Vehicles submergibles" , "dc.subject": "Submersibles" , "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.relation.projectID": "info:eu-repo/grantAgreement/EC/FP7/288273" , "dc.type.version": "info:eu-repo/semantics/publishedVersion" , "dc.identifier.doi": "http://dx.doi.org/10.1109/IROS.2012.6385813" , "dc.contributor.funder": "Ministerio de Ciencia e Innovación (Espanya)" }