Underwater stereo data acquisition and 3D registration with a spectral method

Author

Bulow, Henning ; Sokolovski, Igor ; Pfingsthorn, Max ; Birk, Andreas

Author_Institution

Sch. of Eng. & Sci., Jacobs Univ. Bremen, Bremen, Germany

fYear

2013

fDate

10-14 June 2013

Firstpage

1

Lastpage

7

Abstract

An underwater stereo camera system is presented that is an initial development towards an online 3D mapping system, i.e., that can generate 3D maps of underwater sites in real time during the mission. The system consists of according hardware in form of a stereo camera plus an onboard computer in an underwater housing plus a software side for the processing. A core software component in the system is Spectral Registration with Multilayer Resampling (SRMR) as a 6 Degrees Of Freedom (DOF) registration method for noisy 3D data with partial overlap. Initial results from a first field test off the island of Faial in the Azores are presented.

Keywords

cameras; image registration; stereo image processing; 3D data; 3d registration; 6 DOF registration method; 6 degrees of freedom; core software component; multilayer resampling; online 3D mapping system; partial overlap; spectral method; spectral registration; underwater stereo camera system; underwater stereo data acquisition; Cameras; Frequency conversion; Nonhomogeneous media; Robustness; Sensors; Sonar; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS - Bergen, 2013 MTS/IEEE

Conference_Location

Bergen

Print_ISBN

978-1-4799-0000-8

Type

conf

DOI

10.1109/OCEANS-Bergen.2013.6608115

Filename

6608115