Title :
Online video mosaicing through SLAM for ROVs
Author :
Caccia, M. ; Bruzzone, G. ; Ferreira, F. ; Veruggio, Gianmarco
Author_Institution :
CNR-ISSIA, Genova, Italy
Abstract :
This paper focuses on preliminary results of a system for online video mosaicing for ROVs operating in the proximity of the seabed. The proposed approach relies on a simultaneous localisation and mapping (SLAM) system already tested in typical operating conditions with the Romeo ROV. In particular, previous experimental activity demonstrated the possibility of defining suitable unambiguous features, i.e. image templates, to be extracted automatically by the system and used as SLAM landmarks. The mosaic is now constructed positioning the collected images according to the SLAM-based vehicle motion estimation. It is worth noting that dead-reckoning navigation is performed using data supplied by a laser triangulation optical correlation (LTOC) sensor, for the estimate of the camera/vehicle linear motion on the basis of monocular video data.
Keywords :
SLAM (robots); image segmentation; mobile robots; motion estimation; remotely operated vehicles; robot vision; video signal processing; ROV; SLAM; camera linear motion; dead-reckoning navigation; laser triangulation optical correlation sensor; monocular video data; online video mosaicing; simultaneous localisation and mapping system; vehicle linear motion; vehicle motion estimation; Acoustic sensors; Cameras; Motion estimation; Navigation; Optical devices; Optical sensors; Remotely operated vehicles; Sea floor; Simultaneous localization and mapping; Underwater vehicles;
Conference_Titel :
OCEANS 2009 - EUROPE
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-2522-8
Electronic_ISBN :
978-1-4244-2523-5
DOI :
10.1109/OCEANSE.2009.5278217