Overview
- Presents computational algorithms for the efficient estimation of large-scale photomosaics
- Presents consistent tools for creating large area image mosaics from optical data obtained during surveys with low-cost underwater vehicles
- Written by leading experts in the field
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 82)
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Table of contents (6 chapters)
Keywords
About this book
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.
Authors and Affiliations
Bibliographic Information
Book Title: Efficient Topology Estimation for Large Scale Optical Mapping
Authors: Armagan Elibol, Nuno Gracias, Rafael Garcia
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-642-30313-5
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag GmbH Berlin Heidelberg 2013
Hardcover ISBN: 978-3-642-30312-8Published: 09 August 2012
Softcover ISBN: 978-3-642-43203-3Published: 20 September 2014
eBook ISBN: 978-3-642-30313-5Published: 09 August 2012
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XVI, 88
Topics: Robotics and Automation, Artificial Intelligence, Signal, Image and Speech Processing, Computational Intelligence