Stereovision imaging on submersible platforms for 3-D mapping of benthic habitats and sea-floor structures

Shahriar Negahdaripour, Hossein Madjidi

Research output: Contribution to journalArticle

58 Scopus citations

Abstract

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.

Original languageEnglish (US)
Pages (from-to)625-650
Number of pages26
JournalIEEE Journal of Oceanic Engineering
Volume28
Issue number4
DOIs
StatePublished - Oct 1 2003

Keywords

  • Automated ROV visual navigation
  • Stereovision
  • Underwater 3-D mapping

ASJC Scopus subject areas

  • Oceanography
  • Civil and Structural Engineering
  • Electrical and Electronic Engineering
  • Ocean Engineering

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