A mosaicking technique for object identification in underwater environments

• Type: Article in International Scientific Journal
• Date: 2018

Authors

Alexandra Pereira Nunes (Author) Other; Ana Rita Silva Gaspar (Author) Other; Andry M. Pinto (Author) FEUP; Aníbal Castilho Matos (Author) FEUP

Journal

Title: Sensor Review

Vol. 39 No. 3

Pages: 387-396

ISSN: 0260-2288

Publisher: Emerald

Indexing

ISI Web of Knowledge - 1 Citation

ISI Web of Science

Scopus - 1 Citation

INSPEC

Other information

Authenticus ID: P-00P-ZAD

DOI: 10.1108/sr-04-2018-0089

Abstract (EN): Purpose: This paper aims to present a mosaicking method for underwater robotic applications, whose result can be provided to other perceptual systems for scene understanding such as real-time object recognition. Design/methodology/approach: This method is called robust and large-scale mosaicking (ROLAMOS) and presents an efficient frame-to-frame motion estimation with outlier removal and consistency checking that maps large visual areas in high resolution. The visual mosaic of the sea-floor is created on-the-fly by a robust registration procedure that composes monocular observations and manages the computational resources. Moreover, the registration process of ROLAMOS aligns the observation to the existing mosaic. Findings: A comprehensive set of experiments compares the performance of ROLAMOS to other similar approaches, using both data sets (publicly available) and live data obtained by a ROV operating in real scenes. The results demonstrate that ROLAMOS is adequate for mapping of sea-floor scenarios as it provides accurate information from the seabed, which is of extreme importance for autonomous robots surveying the environment that does not rely on specialized computers. Originality/value: The ROLAMOS is suitable for robotic applications that require an online, robust and effective technique to reconstruct the underwater environment from only visual information. © 2018, Emerald Publishing Limited.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10