Motion Estimation byUsing Stereo Vision Analysis For Underwater Observation System
Motion Estimation byUsing Stereo Vision Analysis For Underwater Observation System
复制标题
利用立体视觉分析进行水下观测系统的运动估计
DOI：
10.23919/elinfocom.2019.8706467
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Kunio Sakata
中科院分区：
文献类型：
--
作者：
Masyhuri Husna Binti Mazlan;Daisuke Morisawa;Y. Koike;Junji Shimizu;Eriko Enomoto;N. Hirohashi;E. Shimizu;Kunio Sakata
本文提出了利用立体视觉分析进行水下观测系统（UOS）的运动估计。我们开发了一种自由落体型 UOS，它是用玻璃球构建的，名为 Gyogyotto Camera。 UOS 用于使用内置于玻璃球内部的相机来观察水下环境。记录的图像用于立体视觉分析以检测UOS的运动估计。所提出的运动估计使用加速鲁棒特征（SURF）、立体三角测量和迭代最近点（ICP）算法。首先描述了陆地上有或没有玻璃球的标定结果。还提供了水下校准结果。比较所获得的结果，我们讨论了玻璃球的影响。此外，我们尝试使用所提出的方法在陆地上估计相机的运动，并讨论水下环境特征点的有效提取。
In this paper, motion estimation by using stereo vision analysis for underwater observation system (UOS) is presented. We developed a free-fall type UOS which was built with a glass sphere named Gyogyotto Camera. The UOS is employed to observe the underwater environment using the camera built inside of the glass sphere. The recorded images are used for stereo vision analysis to detect the motion estimation of the UOS. The proposed motion estimation uses Speed Up Robust Feature (SURF), stereo triangulation and Iterative Closest Point (ICP) algorithm. At first, calibration result with or without glass sphere on the land is described. The calibration result for underwater is also presented. Comparing the obtained results, we discussed the influence of the glass sphere. Moreover, we tried to estimate the motion of the camera by using the proposed method on the land and discuss the effective extraction of the feature points for underwater environment.
DOI：
10.1109/34.888718
发表时间：
2000-11-01
影响因子：
23.6
作者：
Zhang, ZY
通讯作者：
Zhang, ZY