Name
Title | ||
|---|---|---|
Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing |
Abstract | ||
|---|---|---|
This paper presents a method to build large-scale mosaics adapted to underwater sonar imagery. By assuming a simplified imaging model, we propose to address the registrations between images using Fourier-based methods which, unlike feature-based methods, prove well suited to handle the characteristics of forward-looking sonar images, such as low resolution, noise, occlusions and moving shadows. The registration between spatially and temporally distant images resulting from loop-closing situations or registrations in featureless areas are feasible, overcoming the main difficulties of feature-based methods. The problem is cast as a pose-based graph optimization, taking into account the uncertainties of the pairwise registrations and being able to incorporate navigation information. After the optimization, a consistent mosaic from different tracklines is generated with increased resolution and higher signal-to-noise ratio than the original images, while the vehicle motion in x,y and heading is also estimated. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385813 | Intelligent Robots and Systems |
Keywords | Field | DocType |
Fourier analysis,graph theory,image registration,image segmentation,optimisation,sonar imaging,Fourier-based registration method,feature-based methods,image registration,large-scale mosaics,loop-closing situations,moving shadows,navigation information,occlusions,pose-based graph optimization,signal-to-noise ratio,simplified imaging model,two-dimensional forward-looking sonar image mosaicing,underwater sonar imagery | Graph theory,Computer vision,Fourier analysis,Computer science,Image processing,Feature extraction,Image segmentation,Sonar,Artificial intelligence,Image resolution,Image registration | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 12 |
PageRank | References | Authors |
0.90 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Natalia Hurtos | 1 | 61 | 6.93 |
| Xavier Cufí | 2 | 12 | 0.90 |
| Yvan Petillot | 3 | 142 | 19.16 |
| J. Salvi | 4 | 104 | 8.80 |