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Pregled bibliografske jedinice broj: 1119804

Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea

Pfingsthorn, Max; Bulow, Heiko; Birk, Andreas; Ferreira, F.; Veruggio, G.; Caccia, M.; Bruzzone, G.
Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea // 2013 MTS/IEEE OCEANS - Bergen
Bergen: Institute of Electrical and Electronics Engineers (IEEE), 2013. 13798899, 6 doi:10.1109/oceans-bergen.2013.6608146 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)

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Naslov
Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea

Autori
Pfingsthorn, Max ; Bulow, Heiko ; Birk, Andreas ; Ferreira, F. ; Veruggio, G. ; Caccia, M. ; Bruzzone, G.

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

Izvornik
2013 MTS/IEEE OCEANS - Bergen / - Bergen : Institute of Electrical and Electronics Engineers (IEEE), 2013

ISBN
978-1-4799-0001-5

Skup
2013 MTS/IEEE OCEANS - Bergen

Mjesto i datum
Bergen, Norveška, 10.06.2013. - 14.06.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
image registration , image segmentation , mobile robots , object detection , remotely operated vehicles , robot vision , SLAM (robots)

Sažetak
Underwater image mosaicking is an important tool for visual surveys, object detection, and as a means to control the underwater robot if done online. In this paper, novel results of an spectral registration method on image data collected by a remotely operated vehicle in the Ligurian Sea are presented. The registration method computes 2D translation, rotation, and scale, along with a covariance matrix for these parameters. An appearance-based place recognition method is used to detect loops. These methods are embedded in a graph-based Simultaneous Localization and Mapping framework to provide a globally consistent and optimized map of the photographed ground.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo



POVEZANOST RADA

Profili:

Avatar Url Fausto Ferreira (autor)

Poveznice na cjeloviti tekst rada:

doi

Citiraj ovu publikaciju:

Pfingsthorn, Max; Bulow, Heiko; Birk, Andreas; Ferreira, F.; Veruggio, G.; Caccia, M.; Bruzzone, G.
Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea // 2013 MTS/IEEE OCEANS - Bergen
Bergen: Institute of Electrical and Electronics Engineers (IEEE), 2013. 13798899, 6 doi:10.1109/oceans-bergen.2013.6608146 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Pfingsthorn, M., Bulow, H., Birk, A., Ferreira, F., Veruggio, G., Caccia, M. & Bruzzone, G. (2013) Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea. U: 2013 MTS/IEEE OCEANS - Bergen doi:10.1109/oceans-bergen.2013.6608146.
@article{article, author = {Pfingsthorn, Max and Bulow, Heiko and Birk, Andreas and Ferreira, F. and Veruggio, G. and Caccia, M. and Bruzzone, G.}, year = {2013}, pages = {6}, DOI = {10.1109/oceans-bergen.2013.6608146}, chapter = {13798899}, keywords = {image registration , image segmentation , mobile robots , object detection , remotely operated vehicles , robot vision , SLAM (robots)}, doi = {10.1109/oceans-bergen.2013.6608146}, isbn = {978-1-4799-0001-5}, title = {Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea}, keyword = {image registration , image segmentation , mobile robots , object detection , remotely operated vehicles , robot vision , SLAM (robots)}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Bergen, Norve\v{s}ka}, chapternumber = {13798899} }
@article{article, author = {Pfingsthorn, Max and Bulow, Heiko and Birk, Andreas and Ferreira, F. and Veruggio, G. and Caccia, M. and Bruzzone, G.}, year = {2013}, pages = {6}, DOI = {10.1109/oceans-bergen.2013.6608146}, chapter = {13798899}, keywords = {image registration , image segmentation , mobile robots , object detection , remotely operated vehicles , robot vision , SLAM (robots)}, doi = {10.1109/oceans-bergen.2013.6608146}, isbn = {978-1-4799-0001-5}, title = {Large-scale mosaicking with spectral registration based simultaneous localization and mapping (iFMI- SLAM) in the Ligurian Sea}, keyword = {image registration , image segmentation , mobile robots , object detection , remotely operated vehicles , robot vision , SLAM (robots)}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Bergen, Norve\v{s}ka}, chapternumber = {13798899} }

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