Name
Abstract | ||
|---|---|---|
Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic.The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results on real images have been tested on the GARBI underwater vehicle. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/ROBOT.2001.933043 | 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS |
Keywords | Field | DocType |
image processing,computer vision | Computer vision,Feature selection,Image processing,Feature extraction,Homography,Artificial intelligence,Real image,Engineering,Discriminative model,Mobile robot,Computation | Conference |
Volume | Issue | ISSN |
3 | 1 | 1050-4729 |
Citations | PageRank | References |
18 | 2.34 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Rafael García | 1 | 22 | 2.74 |
| Joan Batlle Grabulosa | 2 | 23 | 4.71 |
| Xavier Cufí | 3 | 266 | 15.85 |
| Josep Amat | 4 | 98 | 23.01 |