DocumentCode :
663835
Title :
Automated registration for multi-year robotic surveys of marine benthic habitats
Author :
Bryson, M. ; Johnson-Roberson, Matthew ; Pizarro, Oscar ; Williams, S.
Author_Institution :
Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
3344
Lastpage :
3349
Abstract :
This paper presents recent developments in data processing of multi-year repeat survey imagery and precision automatic registration for monitoring long-term changes in benthic marine habitats such as coral reefs and kelp forests. Three different methods are presented and compared for precision alignment of imagery maps collected over a range of time-scales from 12 hours to two years between dives. The first method uses Scale Invariant Feature Transform (SIFT) features computed over imagery mosaics to compute the relative translational offset between repeat dives. The second method employs scan-optimisation using the bathymetry generated via structure-from-motion thus capturing more stable features in the environment, lending itself to larger timescale registration. The third method uses mutual information optimisation to register imagery maps, providing robustness to changes in the colour and brightness of objects in an underwater scene across multiple years. Results are presented from field data collected using an Autonomous Underwater Vehicle (AUV) in sites across the Australian coast between 2009 and 2011.
Keywords :
autonomous underwater vehicles; geophysical image processing; image registration; image segmentation; oceanographic techniques; seafloor phenomena; AUV; Australian coast; SIFT features; automated registration; autonomous underwater vehicle; coral reefs; data processing; imagery maps; imagery maps registration; imagery mosaics; kelp forests; long-term changes monitoring; marine benthic habitats; multi-year repeat survey imagery; multiyear robotic surveys; mutual information optimisation; precision alignment; precision automatic registration; relative translational offset; scale invariant feature transform; scan-optimisation; structure-from-motion; timescale registration; underwater scene; Accuracy; Feature extraction; Mutual information; Optimization; Registers; Robustness; Three-dimensional displays;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696832
Filename :
6696832
Link To Document :
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