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Record Nr. |
UNINA9910437906903321 |
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Autore |
Elibol Armagan |
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Titolo |
Efficient topology estimation for large scale optical mapping / / Armagan Elibol, Nuno Gracias, Rafael Garcia |
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Pubbl/distr/stampa |
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Berlin ; ; Heidelberg, : Springer, c2013 |
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ISBN |
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Edizione |
[1st ed. 2013.] |
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Descrizione fisica |
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1 online resource (XVI, 88 p.) |
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Collana |
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Springer tracts in advanced robotics, , 1610-7438 ; ; 82 |
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Altri autori (Persone) |
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Disciplina |
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Soggetti |
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Robot vision |
Remote submersibles |
Topology |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Note generali |
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Bibliographic Level Mode of Issuance: Monograph |
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Nota di bibliografia |
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Includes bibliographical references. |
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Nota di contenuto |
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Feature-Based Image Mosaicing -- New Global Alignment Method -- Combined ASKF-EKF Framework for Topology Estimation -- Topology Estimation using Bundle Adjustment -- Conclusions -- New Global Alignment Method -- Combined ASKF-EKF Framework for Topology Estimation -- Topology Estimation using Bundle Adjustment. |
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Sommario/riassunto |
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Large scale optical mapping methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost ROVs usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This book contributes to the state-of-art in large area image mosaicing methods for underwater surveys using low-cost vehicles equipped with |
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