Real-time video mosaicking of the ocean floor

Author

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

Author_Institution

Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA

Volume

20

Issue

3

fYear

1995

fDate

7/1/1995 12:00:00 AM

Firstpage

229

Lastpage

241

Abstract

An approach was developed for real-time creation of video mosaics of the ocean floor. The approach uses visual correspondence during both image acquisition and consolidation to insure that there are no gaps in the mosaic. The use of visual information for mosaic creation offers an accuracy previously unachievable in real time. A complete mosaicking approach was developed, including a technique for image registration and several strategies for image acquisition control. The approach was implemented and tested experimentally. Ocean-floor mosaics were created in real time using a remotely-operated vehicle. In addition, extensive mosaicking experiments were conducted in a test-tank environment using a semiautonomous underwater robot

Keywords

data acquisition; geophysical signal processing; image processing; oceanographic techniques; real-time systems; seafloor phenomena; image acquisition; image acquisition control; image registration; ocean floor; real-time video mosaicking; remotely-operated vehicle; semiautonomous underwater robot; test-tank environment; visual correspondence; visual information; Image processing; Image registration; Marine vehicles; Merging; Navigation; Oceans; Process control; Robot kinematics; Testing; Visualization;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.393078

Filename

393078