Improved real-time videomosaicking of the ocean floor

Author

Fleischer, Stephen D. ; Marks, Richard L. ; Rock, Stephen M. ; Lee, Michael J.

Author_Institution

Aerosp. Robotics Lab., Stanford Univ., CA, USA

Volume

3

fYear

1995

fDate

9-12 Oct 1995

Firstpage

1935

Abstract

Presents a new method for the real-time creation of video mosaics of the ocean floor from a semi-autonomous underwater vehicle. The authors´ approach uses iterative smoother-follower techniques to reduce the propagation of image alignment errors within the mosaic. This improvement relaxes previous constraints on mosaic size and shape, thereby enabling real-time, autonomous video mosaicking along unconstrained vehicle paths. Simulation results which demonstrate the advantages of their approach and preliminary experimental work are presented

Keywords

bathymetry; geophysical signal processing; geophysical techniques; image registration; image sequences; oceanographic techniques; optical information processing; seafloor phenomena; sediments; video signal processing; autonomous underwater vehicle; bathymetry; geophysical measurement technique; image alignment error; image processing; image registration; iterative smoother-follower technique; marine sediment; mosaic; mosaick; ocean bottom; optical imaging; real-time videomosaicking; sea; seafloor topography; video mosaics; visible image; Cameras; Floors; Mobile robots; Navigation; Oceans; Position measurement; Remotely operated vehicles; Sea measurements; Shape; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings.

Conference_Location

San Diego, CA

Print_ISBN

0-933957-14-9

Type

conf

DOI

10.1109/OCEANS.1995.528875

Filename

528875