Fast Underwater Image Mosaicing through Submapping

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• 作者：Armagan Elibol ; Jinwhan Kim ; Nuno Gracias…
• 关键词：Image mosaicing ; Visual mapping ; Underwater robotics
• 刊名：Journal of Intelligent & Robotic Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：85
• 期：1
• 页码：167-187
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-0409
• 卷排序：85

文摘

One of the most important features of mobile robots is their capability to gather data from areas beyond human reach. This capability has increased the demand for the use of robots undertaking exploration tasks, which has naturally led to the need for efficient methods to process the obtained data. Image mosaicing is a useful tool for obtaining a high-resolution visual representation of a large area that has been explored using optical sensors. In this paper, we present an efficient image mosaicing approach that utilizes submapping methods to obtain a map of a surveyed area with reduced computational effort. The approach uses a modified agglomerative hierarchical clustering method to form submaps according to similarity information obtained through feature descriptor matching, and takes advantage of this submapping to reduce the computation and time costs. Comparative results on real challenging underwater datasets are presented.