Abstract
Visual odometry for autonomous terrestrial, aerial and marine robots involves 3-D motion/trajectory computation by tracking features in video sequences. Where optical systems are ineffective due to restricted visibility and high turbidity levels, high-frequency 2-D forward-scan sonar can provide images with target details, and attractive trade-off in range, resolution, and data rate. Automated processing of sonar video images enables numerous key capabilities, including target tracking, 3-D estimation of camera and object motions, and scene analysis and classification in terms of target types and their structures, etc. We investigate the computation of 3-D sonar motion by tracking the 2-D images of scene features. The cases of pure rotation, pure translation, and general motion are analyzed separately to gain deeper insight into the inherent characteristics of the underlying ambiguities and complexities. We analyze performance based on results of experiments with both synthetic and real data.
| Original language | English (US) |
|---|---|
| Title of host publication | OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean |
| DOIs | |
| State | Published - 2012 |
| Event | OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean - Virginia Beach, VA, United States Duration: Oct 14 2012 → Oct 19 2012 |
Other
| Other | OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean |
|---|---|
| Country | United States |
| City | Virginia Beach, VA |
| Period | 10/14/12 → 10/19/12 |
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ASJC Scopus subject areas
- Ocean Engineering
Cite this
On 3-D motion estimation from 2-D sonar image flow. / Negahdaripour, Shahriar.
OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean. 2012. 6404919.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - On 3-D motion estimation from 2-D sonar image flow
AU - Negahdaripour, Shahriar
PY - 2012
Y1 - 2012
N2 - Visual odometry for autonomous terrestrial, aerial and marine robots involves 3-D motion/trajectory computation by tracking features in video sequences. Where optical systems are ineffective due to restricted visibility and high turbidity levels, high-frequency 2-D forward-scan sonar can provide images with target details, and attractive trade-off in range, resolution, and data rate. Automated processing of sonar video images enables numerous key capabilities, including target tracking, 3-D estimation of camera and object motions, and scene analysis and classification in terms of target types and their structures, etc. We investigate the computation of 3-D sonar motion by tracking the 2-D images of scene features. The cases of pure rotation, pure translation, and general motion are analyzed separately to gain deeper insight into the inherent characteristics of the underlying ambiguities and complexities. We analyze performance based on results of experiments with both synthetic and real data.
AB - Visual odometry for autonomous terrestrial, aerial and marine robots involves 3-D motion/trajectory computation by tracking features in video sequences. Where optical systems are ineffective due to restricted visibility and high turbidity levels, high-frequency 2-D forward-scan sonar can provide images with target details, and attractive trade-off in range, resolution, and data rate. Automated processing of sonar video images enables numerous key capabilities, including target tracking, 3-D estimation of camera and object motions, and scene analysis and classification in terms of target types and their structures, etc. We investigate the computation of 3-D sonar motion by tracking the 2-D images of scene features. The cases of pure rotation, pure translation, and general motion are analyzed separately to gain deeper insight into the inherent characteristics of the underlying ambiguities and complexities. We analyze performance based on results of experiments with both synthetic and real data.
UR - http://www.scopus.com/inward/record.url?scp=84873591944&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84873591944&partnerID=8YFLogxK
U2 - 10.1109/OCEANS.2012.6404919
DO - 10.1109/OCEANS.2012.6404919
M3 - Conference contribution
AN - SCOPUS:84873591944
SN - 9781467308298
BT - OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
ER -