LEADER 03612nam 2200649Ia 450 001 9910437906903321 005 20200520144314.0 010 $a9783642303135 010 $a3642303137 024 7 $a10.1007/978-3-642-30313-5 035 $a(CKB)3390000000030186 035 $a(SSID)ssj0000745925 035 $a(PQKBManifestationID)11430125 035 $a(PQKBTitleCode)TC0000745925 035 $a(PQKBWorkID)10860028 035 $a(PQKB)10900498 035 $a(DE-He213)978-3-642-30313-5 035 $a(MiAaPQ)EBC3070944 035 $a(PPN)168316382 035 $a(EXLCZ)993390000000030186 100 $a20120820d2013 uy 0 101 0 $aeng 135 $aurnn|008mamaa 181 $ctxt 182 $cc 183 $acr 200 10$aEfficient topology estimation for large scale optical mapping /$fArmagan Elibol, Nuno Gracias, Rafael Garcia 205 $a1st ed. 2013. 210 $aBerlin ;$aHeidelberg $cSpringer$dc2013 215 $a1 online resource (XVI, 88 p.) 225 1 $aSpringer tracts in advanced robotics,$x1610-7438 ;$v82 300 $aBibliographic Level Mode of Issuance: Monograph 311 08$a9783642432033 311 08$a3642432034 311 08$a9783642303128 311 08$a3642303129 320 $aIncludes bibliographical references. 327 $aFeature-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. 330 $aLarge scale optical mapping methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost ROVs usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This book contributes to the state-of-art in large area image mosaicing methods for underwater surveys using low-cost vehicles equipped with a very limited sensor suite. The main focus has been on global alignment and fast topology estimation, which are the most challenging steps in creating large area image mosaics. This book is intended to emphasise the importance of the topology estimation problem and to present different solutions using interdisciplinary approaches opening a way to further develop new strategies and methodologies.  . 410 0$aSpringer tracts in advanced robotics ;$vv. 82. 606 $aRobot vision 606 $aRemote submersibles 606 $aTopology 615 0$aRobot vision. 615 0$aRemote submersibles. 615 0$aTopology. 676 $a629.892 700 $aElibol$b Armagan$01058861 701 $aGracias$b Nuno$01755853 701 $aGarcia$b Rafael$01755854 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910437906903321 996 $aEfficient topology estimation for large scale optical mapping$94192823 997 $aUNINA