Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images

Xun Xu; Shahriar Negahdaripour

Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images

Xun Xu, Shahriar Negahdaripour

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

25 Scopus citations

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

Fingerprint Dive into the research topics of 'Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images'. Together they form a unique fingerprint.

Cite this

@article{7b9979071fa34b4c82cf5e7ecd1ed25e,

title = "Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images",

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.",

author = "Xun Xu and Shahriar Negahdaripour",

year = "1997",

month = dec,

day = "1",

language = "English (US)",

volume = "2",

pages = "1412--1417",

journal = "Oceans Conference Record (IEEE)",

issn = "0197-7385",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1997 Oceans Conference. Part 1 (of 2) ; Conference date: 06-10-1997 Through 09-10-1997",

}

TY - JOUR

T1 - Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images

AU - Xu, Xun

AU - Negahdaripour, Shahriar

PY - 1997/12/1

Y1 - 1997/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0031380910&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031380910&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0031380910

VL - 2

SP - 1412

EP - 1417

JO - Oceans Conference Record (IEEE)

JF - Oceans Conference Record (IEEE)

SN - 0197-7385

T2 - Proceedings of the 1997 Oceans Conference. Part 1 (of 2)

Y2 - 6 October 1997 through 9 October 1997

ER -

Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images

Abstract

ASJC Scopus subject areas

Other files and links

Cite this