TY - JOUR
T1 - Visual motion ambiguities of a plane in 2-D FS sonar motion sequences
AU - Negahdaripour, S.
N1 - Funding Information:
This paper describes research supported by the Office of Naval Research (ONR) under Grant N000140510717. The author acknowledges support from the E.U. VIBOT Program as a Visiting Scholar at Heriot-Watt University, Edinburgh, UK, during May’10, with special gratitude to Prof. Yvan Petillot (colleague and host from HWU) for his kindness and hospitality during this visit. The real data was collected for a project supported by SERDP under grant MR-1660. The views, opinions and conclusions of the author are neither shared nor endorsed by the ONR or any of VIBOT program sponsors.
PY - 2012/6
Y1 - 2012/6
N2 - Sonar is the most common imaging modality in underwater, and high-resolution high data rate 2-D video systems have been emerging in recent years. As for visually guided terrestrial robot navigation and target-based positioning, the estimation of 3-D motion by tracking features in recorded 2-D sonar images is also a highly desirable capability for submersible platforms. Additionally, theoretical results dealing with robustness and multiplicity of solution constitute important fundamental findings due to nature of sonar data, namely, high noise level, narrow field of view coverage, scarcity of robust features, and incorrect matches. This paper explores the inherent ambiguities of 3-D motion and scene structure interpretation from 2-D forward-scan sonar image sequences. Analyzing the sonar image motion transformation model, which depends on the affine components of the projective transformation (or homography) of two plane views, we show that two interpretations are commonly inferred. The true and spurious planes form mirror images relative to the zero-elevation plane of the sonar reference frame. Even under each of pure rotation or translation, a spurious motion exists comprising both translational and rotational components. In some cases, the two solutions share certain motion components, where the imaged surface becomes parallel to a plane defined by two of the sonar coordinate axes. A unique solution exists under the very special condition where the sonar motion aligns the imaged plane with the zero-elevation planes. We also derive the relationship between the two interpretations, thus allowing closed-form computation of both solutions.
AB - Sonar is the most common imaging modality in underwater, and high-resolution high data rate 2-D video systems have been emerging in recent years. As for visually guided terrestrial robot navigation and target-based positioning, the estimation of 3-D motion by tracking features in recorded 2-D sonar images is also a highly desirable capability for submersible platforms. Additionally, theoretical results dealing with robustness and multiplicity of solution constitute important fundamental findings due to nature of sonar data, namely, high noise level, narrow field of view coverage, scarcity of robust features, and incorrect matches. This paper explores the inherent ambiguities of 3-D motion and scene structure interpretation from 2-D forward-scan sonar image sequences. Analyzing the sonar image motion transformation model, which depends on the affine components of the projective transformation (or homography) of two plane views, we show that two interpretations are commonly inferred. The true and spurious planes form mirror images relative to the zero-elevation plane of the sonar reference frame. Even under each of pure rotation or translation, a spurious motion exists comprising both translational and rotational components. In some cases, the two solutions share certain motion components, where the imaged surface becomes parallel to a plane defined by two of the sonar coordinate axes. A unique solution exists under the very special condition where the sonar motion aligns the imaged plane with the zero-elevation planes. We also derive the relationship between the two interpretations, thus allowing closed-form computation of both solutions.
KW - 2-D forward-scan sonar imagery
KW - Motion ambiguity
KW - Motion vision
KW - Multiple interpretations
KW - Scene reconstruction
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U2 - 10.1016/j.cviu.2012.02.005
DO - 10.1016/j.cviu.2012.02.005
M3 - Article
AN - SCOPUS:84858729667
VL - 116
SP - 754
EP - 764
JO - Computer Vision and Image Understanding
JF - Computer Vision and Image Understanding
SN - 1077-3142
IS - 6
ER -