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Underwater image mosaicking and visual odometry
Author(s): Firooz Sadjadi; Sekhar Tangirala; Scott Sorber
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Paper Abstract

This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

Paper Details

Date Published: 1 May 2017
PDF: 7 pages
Proc. SPIE 10202, Automatic Target Recognition XXVII, 102020H (1 May 2017); doi: 10.1117/12.2263213
Show Author Affiliations
Firooz Sadjadi, Lockheed Martin Corp. (United States)
Sekhar Tangirala, Lockheed Martin Corp. (United States)
Scott Sorber, Lockheed Martin Corp. (United States)


Published in SPIE Proceedings Vol. 10202:
Automatic Target Recognition XXVII
Firooz A. Sadjadi; Abhijit Mahalanobis, Editor(s)

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