Feature Tracking in Video and Sonar Subsea Sequences with Applications

This paper deals with automatic target tracking in video and sonar subsea sequences, an essential capability for automating tasks currently performed by remotely operated vehicles under pilot control. We describe two trackers, one for video sequences, the other for sector scan sonar sequences. No assumptions are made about the images, scene, or motion observed. To illustrate applications, we report results of our systems for 3-D structure reconstruction and panoramic mosaic building from video sequences and describe in some detail our path planning and obstacle avoidance system using sonar sequences.