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Book Cover
Author Elibol, Armağan

Title Efficient topology estimation for large scale optical mapping / Armağan Elibol, Nuno Gracias, Rafael Garcia
Published Berlin ; New York : Springer, [2013]
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Description 1 online resource
Series Springer tracts in advanced robotics, 1610-7438 ; 82
Springer tracts in advanced robotics ; 82
Contents Introduction -- Feature-Based Image Mosaicing -- A New Global Alignment Method for Feature Based Image Mosaicing -- Combined ASKF-EKF Framework for Topology Estimation -- Topology Estimation Using Bundle Adjustment -- Conclusions
Summary 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
Analysis Engineering
Artificial intelligence
Robotics and Automation
Signal, Image and Speech Processing
Computational Intelligence
Bibliography Includes bibliographical references
Subject Robot vision.
Remote submersibles.
Form Electronic book
Author Gracias, Nuno
Garcia, Rafael
LC no. 2012938582
ISBN 3642303129
3642303137 (electronic bk.)
9783642303135 (electronic bk.)