PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.
Synopsis
Browse Publications by Ryan Eustice and the rest of the PeRL Team.
Browse by year
2020, 2019, 2018, 2017, 2016, 2015, 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2000
Image registration underwater for fluid flow measurements and mosaicking
Summary
Abstract
In this paper we present a unified framework of increasing complexity that handles image registration ranging from translation only motion between images, to a full eight parameter projective transformation. Our formulation deals specifically with the constraints that are peculiar to these applications underwater. To exampe the role of translation only motion across images we look at video imagery from fluid flow across a flange at a hydrothermal vent site in Guaymas Basin in Mexico. We then show the extensions to this algorithm that are required to handle the case for 2D mosaicing, which involves translations, rotations, scale, and shear in an unstructured three dimensional underwater world. Finally, we show the effectiveness of these techniques on data acquired during photographic surveys of an ancient Roman shipwreck located in the Skerki Bank region in ~800m of water in the Mediterranean.
Bibtex entry
@INPROCEEDINGS { reustice-2000a,
AUTHOR = { Ryan Eustice and Hanumant Singh and Jonathan Howland },
TITLE = { Image registration underwater for fluid flow measurements and mosaicking },
BOOKTITLE = { Proceedings of the IEEE/MTS OCEANS Conference and Exhibition },
YEAR = { 2000 },
MONTH = { September },
VOLUME = { 3 },
PAGES = { 1529--1534 },
}