Title :
Seabed modeling and distractor extraction for mobile AUVs using light field filtering
Author :
Dansereau, Donald G. ; Williams, Stefan B.
Author_Institution :
Sch. of Aerosp., Mech. & Mechatron. Eng., Univ. of Sydney, Sydney, NSW, Australia
Abstract :
A method is presented for isolating moving distractors from a static background in imagery captured by a hovering or slowly moving Autonomous Underwater Vehicle (AUV). By reparameterizing a set of monocular images into a light field structure, it becomes possible to apply a linear fan filter and its inverse to extract the background and distractors, respectively. Results are shown for a hovering AUV imaging a region with non-trivial 3D structure and containing moving elements. The output is a distractor-free 3D light field model of the sea floor and a set of images of isolated distractors. We show that the technique is insensitive to parallax in the background elements, outperforming pixel differencing techniques.
Keywords :
feature extraction; filtering theory; image sequences; mobile robots; oceanographic techniques; remotely operated vehicles; seafloor phenomena; underwater optics; underwater vehicles; background elements; distractor extraction; distractor-free 3D light field model; hovering AUV imaging; hovering autonomous underwater vehicle; isolated distractors; light field filtering; light field structure; linear fan filter; mobile AUV; monocular images; moving distractors isolation; moving elements; nontrivial 3D structure; parallax; pixel differencing techniques; sea floor; seabed modeling; slowly moving autonomous underwater vehicle; static background; Cameras; Frequency domain analysis; Geometry; Image edge detection; Image sequences; Passband; Three dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979852
