The Impact of Convergence Cameras in a Stereoscopic System for AUVs

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Aguiar, J (Author) Other; Pinto, AM (Author) FEUP; Nuno Cruz (Author) FEUP; Aníbal Castilho Coimbra de Matos (Author) FEUP

Conference proceedings International

Title: IMAGE ANALYSIS AND RECOGNITION (ICIAR 2016)

Pages: 521-529

13th International Conference on Image Analysis and Recognition in Memory of Mohamed Kamel (ICIAR)

Povoa de Varzim, PORTUGAL, JUL 13-15, 2016

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 3 Citations

Other information

Authenticus ID: P-00K-P97

DOI: 10.1007/978-3-319-41501-7_58

Abstract (EN): Underwater imaging is being increasingly helpful for the autonomous robots to reconstruct and map the marine environments which is fundamental for searching for pipelines or wreckages in depth waters. In this context, the accuracy of the information obtained from the environment is of extremely importance. This work presents a study about the accuracy of a reconfigurable stereo vision system while determining a dense disparity estimation for underwater imaging. The idea is to explore the advantage of this kind of system for underwater autonomous vehicles (AUV) since varying parameters like the baseline and the pose of the cameras make possible to extract accurate 3D information at different distances between the AUV and the scene. Therefore, the impact of these parameters is analyzed using a metric error of the point cloud acquired by a stereoscopic system. Furthermore, results obtained directly from an underwater environment proved that a reconfigurable stereo system can have some advantages for autonomous vehicles since, in some trials, the error was reduced by 0.05m for distances between 1.125 and 2.675 m.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 9