Video mosaicking along arbitrary vehicle paths

This paper presents the experimental verification of a novel method for real-time video mosaicking of the ocean floor from a semi-autonomous underwater vehicle. In order to enable mosaicking along unconstrained vehicle paths, it is essential to reduce the propagation of image alignment errors within...

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Bibliographic Details
Published inProceedings of Symposium on Autonomous Underwater Vehicle Technology pp. 293 - 299
Main Authors Fleischer, S.D., Wang, H.H., Rock, S.M., Lee, M.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Acoustic sensors
Laboratories
Marine technology
Navigation
Oceans
Prototypes
Sea floor
Transceivers
Underwater acoustics
Underwater vehicles
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Summary:This paper presents the experimental verification of a novel method for real-time video mosaicking of the ocean floor from a semi-autonomous underwater vehicle. In order to enable mosaicking along unconstrained vehicle paths, it is essential to reduce the propagation of image alignment errors within the mosaic. We have developed iterative smoother-follower techniques to reduce these errors, and we have proven their effectiveness in the laboratory environment. We also present our results from a concurrent research effort to demonstrate a completely autonomous video mosaicking mission. By transferring our vision technologies to OTTER (Oceanographic Technologies Testbed for Engineering Research), we have created a prototype system for visual survey of the sea floor. In particular, we discuss the development of a new vision processing subsystem and its integration into the AUV control system.
ISBN:0780331850
9780780331853
DOI:10.1109/AUV.1996.532427