Pregled bibliografske jedinice broj: 1117406
A real-time mosaicking algorithm using binary features for ROVs
A real-time mosaicking algorithm using binary features for ROVs // 21st Mediterranean Conference on Control and Automation
Khania, Grčka: Institute of Electrical and Electronics Engineers (IEEE), 2013. 13797245, 7 doi:10.1109/med.2013.6608882 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1117406 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A real-time mosaicking algorithm using binary
features for ROVs
Autori
Ferreira, F. ; Veruggio, G. ; Caccia, M. ; Zereik, E. ; Bruzzone, G.
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
21st Mediterranean Conference on Control and Automation
/ - : Institute of Electrical and Electronics Engineers (IEEE), 2013
ISBN
978-1-4799-0997-1
Skup
2013 21st Mediterranean Conference on Control & Automation (MED)
Mjesto i datum
Khania, Grčka, 25.06.2013. - 28.06.2013
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Correlation , Simultaneous localization and mapping , Feature extraction , Real-time systems , Navigation
Sažetak
This article presents a real-time mosaicking algorithm based on a SLAM framework. The mosaic of the seafloor can be useful in real time for a ROV operator that is piloting the ROV. Two important aspects arise in this kind of work: data association and computational time. In order to solve the first one, a combination of SURF features and template correlation methods is used. To minimize the computational time, a very recent approach in the domain of feature description is used: BRIEF binary features. Finally, to be able to update the whole mosaicking in a fast and easy way, local mosaics are used instead of a global one. The algorithm was tested using data collected in a typical experiment and the results show the improvement with respect to previous versions of a similar algorithm.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo
