On 3-D motion estimation from 2-D sonar image flow

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

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 languageEnglish (US)
Title of host publicationOCEANS 2012 MTS/IEEE
Subtitle of host publicationHarnessing the Power of the Ocean
DOIs
StatePublished - Dec 1 2012
EventOCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean - Virginia Beach, VA, United States
Duration: Oct 14 2012Oct 19 2012

Publication series

NameOCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean

Other

OtherOCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean
CountryUnited States
CityVirginia Beach, VA
Period10/14/1210/19/12

ASJC Scopus subject areas

  • Ocean Engineering

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    Negaharipour, S. (2012). On 3-D motion estimation from 2-D sonar image flow. In OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean [6404919] (OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean). https://doi.org/10.1109/OCEANS.2012.6404919