TY - JOUR
T1 - Stereovision imaging on submersible platforms for 3-D mapping of benthic habitats and sea-floor structures
AU - Negahdaripour, Shahriar
AU - Madjidi, Hossein
N1 - Funding Information:
Manuscript received March 2002; revised December 2002. This work was supported by the National Science Foundation under Grant BES-9711528. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.
PY - 2003/10
Y1 - 2003/10
N2 - We investigate the deployment of a submersible platform with stereovision imaging capability for three-dimensional (3-D) mapping of benthic habitats and other sea-floor structures over local areas. A complete framework is studied, comprising 1) suitable trajectories to be executed for data collection; 2) data processing for positioning and trajectory followed by online frame-to-frame and frame-to-mosaic registration of images, as well as recursive global realignment of positions along the path; and 3) 3-D mapping by the fusion of various visual cues, including motion and stereo within a Kalman filter. The computational requirements of the system are evaluated, formalizing how processing may be achieved in real time. The proposed scenario is simulated for testing with known ground truth to assess the system performance, to quantify various errors, and to identify how performance may be improved. Experiments with underwater images are also presented to verify the performance of various components and the overall scheme.
AB - We investigate the deployment of a submersible platform with stereovision imaging capability for three-dimensional (3-D) mapping of benthic habitats and other sea-floor structures over local areas. A complete framework is studied, comprising 1) suitable trajectories to be executed for data collection; 2) data processing for positioning and trajectory followed by online frame-to-frame and frame-to-mosaic registration of images, as well as recursive global realignment of positions along the path; and 3) 3-D mapping by the fusion of various visual cues, including motion and stereo within a Kalman filter. The computational requirements of the system are evaluated, formalizing how processing may be achieved in real time. The proposed scenario is simulated for testing with known ground truth to assess the system performance, to quantify various errors, and to identify how performance may be improved. Experiments with underwater images are also presented to verify the performance of various components and the overall scheme.
KW - Automated ROV visual navigation
KW - Stereovision
KW - Underwater 3-D mapping
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U2 - 10.1109/JOE.2003.819313
DO - 10.1109/JOE.2003.819313
M3 - Article
AN - SCOPUS:0346640448
VL - 28
SP - 625
EP - 650
JO - IEEE Journal of Oceanic Engineering
JF - IEEE Journal of Oceanic Engineering
SN - 0364-9059
IS - 4
ER -