Underwater video mosaicing using AUV and its application to vehicle navigation

Author

Sakai, Hiroshi ; Tanaka, Toshinari ; Mori, Tadashi ; Ohata, Satomi ; Ishii, Kazuo ; Ura, Tamaki

Author_Institution

Port & Airport Res. Inst., Kanagawa, Japan

fYear

2004

fDate

20-23 April 2004

Firstpage

405

Lastpage

410

Abstract

Underwater mosaic images have important information to survey the ocean floor, creatures, inspection of underwater structures, etc. Usually, the image acquisition of the underwater environment is performed by the human operators in the support vessels using remotely operated vehicles (ROVs) and towed fishes. However, the tasks have difficulties caused by their operating environment and poor visibility. This paper describes an underwater video mosaicing system using an autonomous underwater vehicle (AUV).

Keywords

image segmentation; navigation; oceanographic equipment; oceanographic techniques; remotely operated vehicles; seafloor phenomena; underwater vehicles; video signal processing; AUV; autonomous underwater vehicle; image acquisition; ocean floor; remotely operated vehicles; towed fishes; underwater creatures; underwater environment; underwater mosaic images; underwater structure; underwater structure inspection; underwater video mosaicing; vehicle navigation; Marine animals; Marine vehicles; Navigation; Oceans; Orbital robotics; Parallel robots; Remotely operated vehicles; Sea measurements; Underwater structures; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology, 2004. UT '04. 2004 International Symposium on

Print_ISBN

0-7803-8541-1

Type

conf

DOI

10.1109/UT.2004.1405628

Filename

1405628