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) |
|---|---|
| Title of host publication | Oceans Conference Record (IEEE) |
| Publisher | IEEE |
| Pages | 1412-1417 |
| Number of pages | 6 |
| Volume | 2 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 Oceans Conference. Part 1 (of 2) - Halifax, NS, Can Duration: Oct 6 1997 → Oct 9 1997 |
Other
| Other | Proceedings of the 1997 Oceans Conference. Part 1 (of 2) |
|---|---|
| City | Halifax, NS, Can |
| Period | 10/6/97 → 10/9/97 |
Fingerprint
ASJC Scopus subject areas
- Oceanography
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Vision-based motion sensing for underwater navigation and mosaicing of ocean floor images
AU - Xu, Xun
AU - Negahdaripour, Shahriar
PY - 1997
Y1 - 1997
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 contribution
AN - SCOPUS:0031380910
VL - 2
SP - 1412
EP - 1417
BT - Oceans Conference Record (IEEE)
PB - IEEE
ER -