Linear Global Mosaics For Underwater Surveying

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An important feature for autonomous underwater vehicles equipped with video cameras in survey missions, is the ability to quickly generate a wide area view of the sea floor. This paper presents a method for the fast creation of globally consistent video mosaics. A closed--form solution for the estimation of the global image motion is presented. It uses a least-squares criteria over a residual vector which is linear on the homography parameters. Aiming at real--time operation, a fast implementation is described using recursive least--squares, which permits the creation of globally consistent mosaics during video acquisition. The application to underwater imagery is illustrated by the creation of video mosaics capable of being used for surveying or autonomous navigation.

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Available from: Nuno Gracias, Oct 24, 2012
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