Title :
Underwater stereo data acquisition and 3D registration with a spectral method
Author :
Bulow, Henning ; Sokolovski, Igor ; Pfingsthorn, Max ; Birk, Andreas
Author_Institution :
Sch. of Eng. & Sci., Jacobs Univ. Bremen, Bremen, Germany
Abstract :
An underwater stereo camera system is presented that is an initial development towards an online 3D mapping system, i.e., that can generate 3D maps of underwater sites in real time during the mission. The system consists of according hardware in form of a stereo camera plus an onboard computer in an underwater housing plus a software side for the processing. A core software component in the system is Spectral Registration with Multilayer Resampling (SRMR) as a 6 Degrees Of Freedom (DOF) registration method for noisy 3D data with partial overlap. Initial results from a first field test off the island of Faial in the Azores are presented.
Keywords :
cameras; image registration; stereo image processing; 3D data; 3d registration; 6 DOF registration method; 6 degrees of freedom; core software component; multilayer resampling; online 3D mapping system; partial overlap; spectral method; spectral registration; underwater stereo camera system; underwater stereo data acquisition; Cameras; Frequency conversion; Nonhomogeneous media; Robustness; Sensors; Sonar; Three-dimensional displays;
Conference_Titel :
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location :
Bergen
Print_ISBN :
978-1-4799-0000-8
DOI :
10.1109/OCEANS-Bergen.2013.6608115
