Naslov
Real-time Mosaicing for Marine Vehicles

Autori
Ferreira, Fausto

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, doktorska disertacija

Mjesto
Genova

Datum
17.04

Godina
2015

Stranica
170

Mentor
Casalino, Giuseppe ; Caccia, Massimo, Veruggio, Gianmarco

Ključne riječi
real-time, mosaicing, SLAM, data association, motion estimation, optical cameras, forward looking sonar, marine vehicles

Sažetak
This thesis presents a real-time SLAM-based mosaicing algorithm for marine vehicles. Although most of the research nowadays focuses on high quality offline mosaicing, real-time mosaicing can be very useful. Namely in the context of ROV piloting and in the context of underwater target detections. In the first case, a rough mosaic of the seabed can help the ROV pilot to have an overview of the inspected area and to return easily to a previously visited location. In the second case, a mosaic of the seafloor has more quality than the raw data increasing the signal- to-noise ratio and improving the performance of target detection algorithms. The novelty of this work is related to the use of SLAM for a correct update of the mosaic for each loop closure in real time and also to the novel approach of local mosaics. Another important contribution is a comprehensive survey of state-of-the-art motion estimation techniques. The experimental results were obtained both with optical cameras mounted on-board a ROV or an ASV and forward looking sonars mounted onboard an ASV or a ROV in the context of the aforementioned applications. The essential steps of motion estimation and data association were thoroughly studied and the results of those findings are here presented. Preliminary results of fusion of optical and acoustic cameras data are also shown.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA