Applications of direct 3D motion estimation for underwater machine vision systems

Author

Nagahdaripour, S. ; Xu, X. ; Khamene, A.

Author_Institution

Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA

Volume

1

fYear

1998

fDate

28 Sep-1 Oct 1998

Firstpage

51

Abstract

Vision can provide unique capabilities under favorable visibility conditions during the operation of intelligent or autonomous underwater vehicles in deep ocean. We describe a real time vision system for positioning and station keeping, navigation, and sea floor image mosaicing. These developments exploit a direct methodology for 3D motion estimation from time varying underwater imagery. We present sample results from experiments for evaluating the performance and accuracy of the system, based on measurements from an independent sensor

Keywords

computer vision; motion estimation; oceanographic techniques; position control; real-time systems; remotely operated vehicles; underwater vehicles; autonomous underwater vehicles; deep ocean; direct 3D motion estimation; independent sensor; navigation; positioning; real time vision system; sea floor image mosaicing; station keeping; time varying underwater imagery; underwater machine vision systems; visibility conditions; Intelligent vehicles; Machine intelligence; Machine vision; Motion estimation; Navigation; Oceans; Real time systems; Sea floor; Sea measurements; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '98 Conference Proceedings

Conference_Location

Nice

Print_ISBN

0-7803-5045-6

Type

conf

DOI

10.1109/OCEANS.1998.725643

Filename

725643