Sensor-assisted video mosaicing for seafloor mapping

Rzhanov, Yuri; Cutter, G.R.; Huff, Lloyd C.

doi:10.1109/icip.2001.958515

Cited by 6 publications

(2 citation statements)

References 7 publications

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“…When surveying in shallow waters or at close range to the seafloor, optical sensors are a preferable alternative to sonar as they can operate at higher resolutions but are limited in range (due to the attention of light), therefore requiring many images to be captured to cover a single site. Most optical underwater surveying approaches use mosaicing methods (Foley et al, 2009;Ludvigsen, Sortland, 626 • Journal of Field Robotics-2017Johnsen, & Singh, 2007Rzhanov, Cutter, & Huff, 2001), to combine many images into a single spatially contiguous two-dimensional (2D) representation of the environment. Mosaics are useful for visualizing data at scales larger than a single image, but most existing approaches in the literature ignore the 3D structure of the scene (for example, (Pizarro & Singh, 2003)), resulting in geometric distortion and inaccuracies in the mosaic.…”

Section: Introductionmentioning

confidence: 99%

High-Resolution Underwater Robotic Vision-Based Mapping and Three-Dimensional Reconstruction for Archaeology

et al. 2016

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A note on versions:The version presented here may differ from the published version or from the version of record. If you wish to cite this item you are advised to consult the publisher's version. Please see the repository url above for details on accessing the published version and note that access may require a subscription. Giancarlo Troni Pontificia Universidad Católica de Chile Paul Ozog University of Michigan Jon C. Henderson University of NottinghamDocumenting underwater archaeological sites is an extremely challenging problem. Sites covering large areas are particularly daunting for traditional techniques. In this paper, we present a novel approach to this problem using both an autonomous underwater vehicle (AUV) and a diver-controlled stereo imaging platform to document the submerged Bronze Age city at Pavlopetri, Greece. The result is a three-dimensional (3D) reconstruction covering 26,600 m2 at a resolution of 2 mm/pixel, the largest-scale underwater optical 3D map, at such a resolution, in the world to date. We discuss the advances necessary to achieve this result, including i) an approach to color correct large numbers of images at varying altitudes and over varying bottom types; ii) a large-scale bundle adjustment framework that is capable of handling upward of 400,000 stereo images; and iii) a novel approach to the registration and rapid documentation of an underwater excavations area that can quickly produce maps of site change. We present visual and quantitative comparisons to the authors' previous underwater mapping approaches. C 2016 Wiley Periodicals, Inc.

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Section: Introductionmentioning

confidence: 99%

High-Resolution Underwater Robotic Vision-Based Mapping and Three-Dimensional Reconstruction for Archaeology

et al. 2016

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“…Most optical underwater surveying approaches use mosaicing methods [4], [5], [6], in which a two-dimensional map is constructed from a set of images. Mosaics are useful for visualising data at scales larger than than a single image, but they are not geometrically accurate since they ignore the 3D structure of the scene [7], resulting in poorly characterised distortions.…”

Section: Introductionmentioning

confidence: 99%

Reconstructing pavlopetri: Mapping the world's oldest submerged town using stereo-vision

Mahon

Pizarro

Johnson-Roberson

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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This paper presents a vision-based underwater mapping system, which is demonstrated in an archaeological survey of the submerged ancient town of Pavlopetri. The snorkeler or diver operated system provides a low cost alternative to the use of an AUV or ROV in shallow waters. The system produces textured three-dimensional models, which contain significantly more information than traditional archaeological survey methods. The photo-realistic maps that are produced allow further archaeological research to be performed, without diving on a site during the restrictive time limitations of permits and field seasons. The hardware and software components of the mapping system and its method of operation are described, and initial results are presented and discussed.

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Seafloor video mapping: modeling, algorithms, apparatus

Rzhanov

Huff

Cutter

Proceedings. International Conference on Image Processing

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This paper discusses technique used for construction of highresolution image mosaic from a video sequence and the synchronously logged camera attitude information. It allows one to infer geometric characteristics of the imaged terrain and hence improve mosaic quality and reduce computational burden. The technique is demonstrated using numerical modeling and is applied to video data collected on Rainsford Island, Mass.Calculation of the transformation relating consecutive image frames is an essential operation affecting reliability of the whole mosaicing process. Improvements to the algorithm are suggested. which significantly decrease the possibility of convergence to an inappropriate solution.

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Sensor-assisted video mosaicing for seafloor mapping

Cited by 6 publications

References 7 publications

High-Resolution Underwater Robotic Vision-Based Mapping and Three-Dimensional Reconstruction for Archaeology

High-Resolution Underwater Robotic Vision-Based Mapping and Three-Dimensional Reconstruction for Archaeology

Reconstructing pavlopetri: Mapping the world's oldest submerged town using stereo-vision

Seafloor video mapping: modeling, algorithms, apparatus

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