Abstract
We propose a direct solution for real-time estimation of the 3D motion of a submersible vehicle from the video images of the sea floor, acquired by an onboard camera, in order to perform the following tasks: Maintaining a prescribed trajectory, or determining position relative to a reference point, during short-range navigation along the sea floor. Constructing a mosaic image of the bottom scene within the scanned area by registering consecutive frames. We present experimental results with images recorded in a water tank to evaluate performance based on accuracy in the estimation of 3D motion and the registration of consecutive frames in the mosaic image.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1412-1417 |
| Number of pages | 6 |
| Journal | Oceans Conference Record (IEEE) |
| Volume | 2 |
| State | Published - Dec 1 1997 |
| Event | Proceedings of the 1997 Oceans Conference. Part 1 (of 2) - Halifax, NS, Can Duration: Oct 6 1997 → Oct 9 1997 |
ASJC Scopus subject areas
- Oceanography