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

Research output: Contribution to journalConference articlepeer-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 languageEnglish (US)
Pages (from-to)1412-1417
Number of pages6
JournalOceans Conference Record (IEEE)
Volume2
StatePublished - Dec 1 1997
EventProceedings of the 1997 Oceans Conference. Part 1 (of 2) - Halifax, NS, Can
Duration: Oct 6 1997Oct 9 1997

ASJC Scopus subject areas

  • Oceanography

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