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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...
Underwater image mosaicking is an important tool for visual surveys, object detection, and as a means to control the underwater robot if done online. In this paper, novel results of an spectral registration method on image data collected by a remotely operated vehicle in the Ligurian Sea are presented. The registration method computes 2D translation, rotation, and scale, along with a covariance matrix...
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...
This paper focuses on preliminary results of a system for online video mosaicing for ROVs operating in the proximity of the seabed. The proposed approach relies on a simultaneous localisation and mapping (SLAM) system already tested in typical operating conditions with the Romeo ROV. In particular, previous experimental activity demonstrated the possibility of defining suitable unambiguous features,...
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