Video mosaicking along arbitrary vehicle paths

Author

Fleischer, Stephen D. ; Wang, Howard B. ; Rock, Stelphen M. ; Lee, Michael J.

Author_Institution

Aerosp. Robotics Lab., Stanford Univ., CA, USA

fYear

1996

fDate

2-6 Jun 1996

Firstpage

293

Lastpage

299

Abstract

This paper presents the experimental verification of a novel method for real-time video mosaicking of the ocean floor from a semi-autonomous underwater vehicle. In order to enable mosaicking along unconstrained vehicle paths, it is essential to reduce the propagation of image alignment errors within the mosaic. We have developed iterative smoother-follower techniques to reduce these errors, and we have proven their effectiveness in the laboratory environment. We also present our results from a concurrent research effort to demonstrate a completely autonomous video mosaicking mission. By transferring our vision technologies to OTTER (Oceanographic Technologies Testbed for Engineering Research), we have created a prototype system for visual survey of the sea floor. In particular, we discuss the development of a new vision processing subsystem and its integration into the AUV control system

Keywords

computer vision; iterative methods; marine systems; oceanographic techniques; optical tracking; position control; real-time systems; remote sensing; OTTER; image alignment error; iterative smoother-follower; ocean floor; real-time systems; sea floor; semi-autonomous underwater vehicle; vehicle paths; video mosaicking; vision processing; visual survey; Acoustic sensors; Laboratories; Marine technology; Navigation; Oceans; Prototypes; Sea floor; Transceivers; Underwater acoustics; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1996. AUV '96., Proceedings of the 1996 Symposium on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-3185-0

Type

conf

DOI

10.1109/AUV.1996.532427

Filename

532427