Naslov
Online video mosaicing through SLAM for ROVs

Autori
Caccia, M. ; Bruzzone, G. ; Ferreira, F. ; Veruggio, G.

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
OCEANS 2009-EUROPE / - Bremen : Institute of Electrical and Electronics Engineers (IEEE), 2009

ISBN
978-1-4244-2522-8

Skup
OCEANS 2009-EUROPE

Mjesto i datum
Bremen, Njemačka, 11.05.2009. - 14.05.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Simultaneous localization and mapping , Remotely operated vehicles , Optical sensors , Cameras , Motion estimation , Navigation , Optical devices , Sea floor , Underwater vehicles , Acoustic sensors

Sažetak
This paper focuses on preliminary results of a system for online video mosaicing for ROVs operating in the proximity of the seabed. The proposed approach relies on a simultaneous localisation and mapping (SLAM) system already tested in typical operating conditions with the Romeo ROV. In particular, previous experimental activity demonstrated the possibility of defining suitable unambiguous features, i.e. image templates, to be extracted automatically by the system and used as SLAM landmarks. The mosaic is now constructed positioning the collected images according to the SLAM-based vehicle motion estimation. It is worth noting that dead-reckoning navigation is performed using data supplied by a laser triangulation optical correlation (LTOC) sensor, for the estimate of the camera/vehicle linear motion on the basis of monocular video data.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA