The Design of Inspection Robot Navigation Systems Based on Distributed Vision

Wang, Lei; Zhu, Hua; Li, Peng; Chen, Change; You, Shaoze; Li, Menggang; Zheng, Zhang

doi:10.1007/978-3-030-27541-9_25

Cited by 3 publications

(1 citation statement)

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“…As demonstrated by the huge amount of research work on the topic, image mosaicing is an established approach for autonomous or remotely mapping and real-time visualization. The technique has been indeed utilized as aid for robot path planning, navigation, and mapping on land (Kelly, 2000;Lucas et al, 2010;Wang et al, 2019) and underwater (Eustice, 2005;Gracias et al, 2003); for environmental monitoring through georeferenced video registration without a digital elevation model -DEM from unmanned aerial vehicles (Zhu et al, 2005); with video acquired with large format aerial vehicles (Molina and Zhu, 2014), for surveillance (Yang et al, 2015) and tracking of moving objects (Linger and Goshtasby, 2014); for constructing an overview of a target area with different sensors (RGB and/or thermal cameras) with and without metadata from the GPS and inertial navigation system (INS) from small-scale UAV (Yahyanejad, 2013); for supporting image interpretation and navigation in medical applications with microscopes (Loewke et al, 2010). In this work we describe a novel optimized approach of image mosaicing primarily tailored for the observation and real time mapping of the seabed.…”

Section: Introductionmentioning

confidence: 99%

3d Sequential Image Mosaicing for Underwater Navigation and Mapping

Nocerino

Menna

Chemisky

et al. 2020

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. Although fully autonomous mapping methods are becoming more and more common and reliable, still the human operator is regularly employed in many 3D surveying missions. In a number of underwater applications, divers or pilots of remotely operated vehicles (ROVs) are still considered irreplaceable, and tools for real-time visualization of the mapped scene are essential to support and maximize the navigation and surveying efforts. For underwater exploration, image mosaicing has proved to be a valid and effective approach to visualize large mapped areas, often employed in conjunction with autonomous underwater vehicles (AUVs) and ROVs. In this work, we propose the use of a modified image mosaicing algorithm that coupled with image-based real-time navigation and mapping algorithms provides two visual navigation aids. The first is a classic image mosaic, where the recorded and processed images are incrementally added, named 2D sequential image mosaicing (2DSIM). The second one geometrically transform the images so that they are projected as planar point clouds in the 3D space providing an incremental point cloud mosaicing, named 3D sequential image plane projection (3DSIP). In the paper, the implemented procedure is detailed, and experiments in different underwater scenarios presented and discussed. Technical considerations about computational efforts, frame rate capabilities and scalability to different and more compact architectures (i.e. embedded systems) is also provided.

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