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This article presents a real-time mosaicking algorithm based on a SLAM framework. The mosaic of the seafloor can be useful in real time for a ROV operator that is piloting the ROV. Two important aspects arise in this kind of work: data association and computational time. In order to solve the first one, a combination of SURF features and template correlation methods is used. To minimize the computational...
Binary feature descriptors are a recent and promising trend in the computer vision field. Nonetheless, they are not yet enough studied when compared to the more established floating-point features. Thus, the need of testing this kind of feature descriptors arises. In particular, in the underwater domain very few works used binary feature descriptors. Therefore, this article tries to explore this recent...
This article discusses the possibility of building online a mosaic of the seafloor relying on a SLAM framework. The goal is to provide the ROV operator with an approximated seafloor's visual map relatively rough. In order to have that map, it is important to get an accurate estimate of the location of the visual landmarks and, in particular, a correct data association when a visual landmark is re-visited...
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