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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

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)
Title of host publicationOceans Conference Record (IEEE)
PublisherIEEE
Pages1412-1417
Number of pages6
Volume2
StatePublished - 1997
EventProceedings of the 1997 Oceans Conference. Part 1 (of 2) - Halifax, NS, Can
Duration: Oct 6 1997Oct 9 1997

Other

OtherProceedings of the 1997 Oceans Conference. Part 1 (of 2)
CityHalifax, NS, Can
Period10/6/9710/9/97

Fingerprint

navigation
seafloor
submersible
trajectory
water
mosaic

ASJC Scopus subject areas

  • Oceanography

Cite this

Xu, X., & Negahdaripour, S. (1997). Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images. In Oceans Conference Record (IEEE) (Vol. 2, pp. 1412-1417). IEEE.

Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images. / Xu, Xun; Negahdaripour, Shahriar.

Oceans Conference Record (IEEE). Vol. 2 IEEE, 1997. p. 1412-1417.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Xu, X & Negahdaripour, S 1997, Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images. in Oceans Conference Record (IEEE). vol. 2, IEEE, pp. 1412-1417, Proceedings of the 1997 Oceans Conference. Part 1 (of 2), Halifax, NS, Can, 10/6/97.
Xu X, Negahdaripour S. Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images. In Oceans Conference Record (IEEE). Vol. 2. IEEE. 1997. p. 1412-1417
Xu, Xun ; Negahdaripour, Shahriar. / Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images. Oceans Conference Record (IEEE). Vol. 2 IEEE, 1997. pp. 1412-1417
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