Title :
Improved real-time videomosaicking of the ocean floor
Author :
Fleischer, Stephen D. ; Marks, Richard L. ; Rock, Stephen M. ; Lee, Michael J.
Author_Institution :
Aerosp. Robotics Lab., Stanford Univ., CA, USA
Abstract :
Presents a new method for the real-time creation of video mosaics of the ocean floor from a semi-autonomous underwater vehicle. The authors´ approach uses iterative smoother-follower techniques to reduce the propagation of image alignment errors within the mosaic. This improvement relaxes previous constraints on mosaic size and shape, thereby enabling real-time, autonomous video mosaicking along unconstrained vehicle paths. Simulation results which demonstrate the advantages of their approach and preliminary experimental work are presented
Keywords :
bathymetry; geophysical signal processing; geophysical techniques; image registration; image sequences; oceanographic techniques; optical information processing; seafloor phenomena; sediments; video signal processing; autonomous underwater vehicle; bathymetry; geophysical measurement technique; image alignment error; image processing; image registration; iterative smoother-follower technique; marine sediment; mosaic; mosaick; ocean bottom; optical imaging; real-time videomosaicking; sea; seafloor topography; video mosaics; visible image; Cameras; Floors; Mobile robots; Navigation; Oceans; Position measurement; Remotely operated vehicles; Sea measurements; Shape; Underwater vehicles;
Conference_Titel :
OCEANS '95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings.
Conference_Location :
San Diego, CA
Print_ISBN :
0-933957-14-9
DOI :
10.1109/OCEANS.1995.528875
