Building 3D elevation maps of sea-floor scenes from underwater stereo images

Author

Khamene, A. ; Negahdaripour, S.

Author_Institution

Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA

Volume

1

fYear

1999

fDate

1999

Firstpage

64

Abstract

Stereo vision has been used in the application of terrestrial mobile robots and the Mars Rover to construct a three-dimensional map of the environment from two-dimensional images. The geometrical issues of the problem for both calibrated and uncalibrated systems have been well studied. However, the main problem difficulty is solving the correspondence problem, or equivalently the accurate computation of the disparity, between the left and right images. The application of binocular vision to underwater imagery and some of the problem complexities arising from the inherent characteristics of the environments are investigated. Results of an experiment with underwater data under three turbidity conditions are presented to demonstrate some of these issues

Keywords

bathymetry; geophysical signal processing; geophysical techniques; oceanographic techniques; robot vision; seafloor phenomena; stereo image processing; 3D map; bathymetry; binocular vision; elevation map; geophysical measurement technique; ocean; optical imaging; sea-floor scene; seafloor; seafloor topography; stereo image; stereo vision; three dimensional map; turbid water; turbidity conditions; underwater image; underwater imagery; Command and control systems; Computer vision; Intelligent vehicles; Layout; Mars; Mobile robots; Navigation; Shape; Stereo vision; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '99 MTS/IEEE. Riding the Crest into the 21st Century

Conference_Location

Seattle, WA

Print_ISBN

0-7803-5628-4

Type

conf

DOI

10.1109/OCEANS.1999.799708

Filename

799708