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Efficient Topology Estimation for Large Scale Optical Mapping

  • Armagan Elibol
  • Nuno Gracias
  • Rafael Garcia

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 82)

Table of contents

  1. Front Matter
    Pages 1-13
  2. Armağan Elibol, Nuno Gracias, Rafael Garcia
    Pages 1-8
  3. Armağan Elibol, Nuno Gracias, Rafael Garcia
    Pages 9-23
  4. Armağan Elibol, Nuno Gracias, Rafael Garcia
    Pages 25-39
  5. Armağan Elibol, Nuno Gracias, Rafael Garcia
    Pages 41-59
  6. Armağan Elibol, Nuno Gracias, Rafael Garcia
    Pages 61-76
  7. Armağan Elibol, Nuno Gracias, Rafael Garcia
    Pages 77-78
  8. Back Matter
    Pages 0--1

About this book

Introduction

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.

 

Keywords

Global Alignment Image Mosaicing Optical Mapping Robotics Topology Estimation Underwater Robots Vision only Navigation and Localisation

Authors and affiliations

  • Armagan Elibol
    • 1
  • Nuno Gracias
    • 2
  • Rafael Garcia
    • 3
  1. 1.Department of Mathematical EngineeringYildiz Technical UniversityIstanbulTurkey
  2. 2., Computer Vision and Robotics GroupUniversity of GironaGironaSpain
  3. 3., Computer Vision and Robotics GroupUniversity of GironaGironaSpain

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-30313-5
  • Copyright Information Springer-Verlag Berlin Heidelberg 2013
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-30312-8
  • Online ISBN 978-3-642-30313-5
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site