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Forward-looking Sonar Image Mosaicking by Feature Tracking
Song SM(宋三明); J. Michael Herrmann; Liu KZ(刘开周); Li S(李硕); Feng XS(封锡盛)
作者部门水下机器人研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1613-1618
收录类别EI ; CPCI(ISTP)
EI收录号20171403534790
WOS记录号WOS:000405724600271
产权排序1
ISBN号978-1-5090-4363-7
摘要High-frequency forward-looking sonar are appropriate for the operation or search close to the seabed. Constructing a panoramic mosaic not only facilitates an interpretation of the underwater environment, but also supports the vehicle’s self-localization. In this paper, a method to register sonar sequences is proposed that is based on the feature tracking using the particle filtering. Our methods starts with the extraction of the intensity, the texture and the shape features from the unstructured seabed environment. Next a region of interest (ROI) is tracked until it disappears from the view field of an autonomous underwater vehicle (AUV). Then, another ROI is selected and the tracking procedures are repeated. Experimental results show that (1) Feature tracking is feasible for the forward-looking sonar image mosaicking. (2) Fusion of the texture and the shape feature lead to a robust feature extraction method for more precise motion estimation. (3) The prior information on the AUV’s movement is necessary for the tracking of highlighted regions.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19687
专题水下机器人研究室
通讯作者Song SM(宋三明)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Institute of Perception, Action and Behaviour, University of Edinburgh, EH8 9AB, United Kingdom
推荐引用方式
GB/T 7714
Song SM,J. Michael Herrmann,Liu KZ,et al. Forward-looking Sonar Image Mosaicking by Feature Tracking[C]. New York:IEEE,2016:1613-1618.
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