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Título:	Estimating the motion of an underwater robot from a monocular image sequence
Autor/a:	García Campos, Rafael; Cufí Solé, Xavier; Carreras Pérez, Marc
Abstract:	When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot
Fecha de creación:	20-05-2010
Materia(s):	-Reconeixement òptic de formes -Robots mòbils -Robots submarins -Visió per ordinador -Computer vision -Mobile robots -Optical pattern recognition -Underwater robots
Derechos:	Tots els drets reservats
Tipo de documento:	Artículo
Editor:	IEEE
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