03612nam 2200649Ia 450 991043790690332120200520144314.09783642303135364230313710.1007/978-3-642-30313-5(CKB)3390000000030186(SSID)ssj0000745925(PQKBManifestationID)11430125(PQKBTitleCode)TC0000745925(PQKBWorkID)10860028(PQKB)10900498(DE-He213)978-3-642-30313-5(MiAaPQ)EBC3070944(PPN)168316382(EXLCZ)99339000000003018620120820d2013 uy 0engurnn|008mamaatxtccrEfficient topology estimation for large scale optical mapping /Armagan Elibol, Nuno Gracias, Rafael Garcia1st ed. 2013.Berlin ;Heidelberg Springerc20131 online resource (XVI, 88 p.) Springer tracts in advanced robotics,1610-7438 ;82Bibliographic Level Mode of Issuance: Monograph9783642432033 3642432034 9783642303128 3642303129 Includes bibliographical references.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.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 a very limited sensor suite. The main focus has been on global alignment and fast topology estimation, which are the most challenging steps in creating large area image mosaics. This book is intended to emphasise the importance of the topology estimation problem and to present different solutions using interdisciplinary approaches opening a way to further develop new strategies and methodologies.  .Springer tracts in advanced robotics ;v. 82.Robot visionRemote submersiblesTopologyRobot vision.Remote submersibles.Topology.629.892Elibol Armagan1058861Gracias Nuno1755853Garcia Rafael1755854MiAaPQMiAaPQMiAaPQBOOK9910437906903321Efficient topology estimation for large scale optical mapping4192823UNINA