$Underwater stereo SLAM with refraction correction$

Underwater stereo SLAM with refraction correction

This work presents a method for underwater stereo localization and mapping for detailed inspection tasks. The method generates dense, geometrically accurate reconstructions of underwater environments by compensating for image distortions due to refraction. A refractive model of the camera and enclos...

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Hauptverfasser:	Servos, James, Smart, Michael, Waslander, Steven L.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Cameras Current measurement Estimation Image reconstruction Simultaneous localization and mapping Three-dimensional displays
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creator	Servos, James Smart, Michael Waslander, Steven L.
description	This work presents a method for underwater stereo localization and mapping for detailed inspection tasks. The method generates dense, geometrically accurate reconstructions of underwater environments by compensating for image distortions due to refraction. A refractive model of the camera and enclosure is calculated offline using calibration images and produces non-linear epipolar curves for use in stereo matching. An efficient block matching algorithm traverses the precalculated epipolar curves to find pixel correspondences and depths are calculated using pixel ray tracing. Finally the depth maps are used to perform dense simultaneous localization and mapping to generate a 3D model of the environment. The localization and mapping algorithm incorporates refraction corrected ray tracing to improve map quality. The method is shown to improve overall depth map quality over existing methods and to generate high quality 3-D reconstructions.
doi_str_mv	10.1109/IROS.2013.6696833
format	Conference Proceeding
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The method generates dense, geometrically accurate reconstructions of underwater environments by compensating for image distortions due to refraction. A refractive model of the camera and enclosure is calculated offline using calibration images and produces non-linear epipolar curves for use in stereo matching. An efficient block matching algorithm traverses the precalculated epipolar curves to find pixel correspondences and depths are calculated using pixel ray tracing. Finally the depth maps are used to perform dense simultaneous localization and mapping to generate a 3D model of the environment. The localization and mapping algorithm incorporates refraction corrected ray tracing to improve map quality. The method is shown to improve overall depth map quality over existing methods and to generate high quality 3-D reconstructions.</description><subject>Cameras</subject><subject>Current measurement</subject><subject>Estimation</subject><subject>Image reconstruction</subject><subject>Simultaneous localization and mapping</subject><subject>Three-dimensional displays</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>1467363588</isbn><isbn>9781467363587</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2013</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9j9FKw0AQRVdRsNZ-gPiSH0ic2cnsTh5L0VqIFKx9LttmFiPayCZQ_HuLFl_uPU-He425RSgQobpfvCxXhQWkwrnKCdGZucbSeXLEIudmZJEpB3Hu4p9Zrsyk798BAL3zVmBkcL1vNB3CoCnrj6Fdtqqnz9mhHd6ypDGF3dB2-2zXpaS_eGMuY_jodXLqsVk_PrzOnvJ6OV_MpnXeouchr6JEbo6LPDhQYm_D1oVGiUgIgscgzCFWQJG33iujbURKJmurEhBpbO7-vK2qbr5S-xnS9-b0ln4AxdtEuQ</recordid><startdate>201311</startdate><enddate>201311</enddate><creator>Servos, James</creator><creator>Smart, Michael</creator><creator>Waslander, Steven L.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201311</creationdate><title>Underwater stereo SLAM with refraction correction</title><author>Servos, James ; Smart, Michael ; Waslander, Steven L.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-9f8f5d4677060e3572ab6ade333830a71a855af903f5b77e512d8845322940113</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Cameras</topic><topic>Current measurement</topic><topic>Estimation</topic><topic>Image reconstruction</topic><topic>Simultaneous localization and mapping</topic><topic>Three-dimensional displays</topic><toplevel>online_resources</toplevel><creatorcontrib>Servos, James</creatorcontrib><creatorcontrib>Smart, Michael</creatorcontrib><creatorcontrib>Waslander, Steven L.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Servos, James</au><au>Smart, Michael</au><au>Waslander, Steven L.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Underwater stereo SLAM with refraction correction</atitle><btitle>2013 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2013-11</date><risdate>2013</risdate><spage>3350</spage><epage>3355</epage><pages>3350-3355</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><eisbn>1467363588</eisbn><eisbn>9781467363587</eisbn><abstract>This work presents a method for underwater stereo localization and mapping for detailed inspection tasks. 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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Cameras Current measurement Estimation Image reconstruction Simultaneous localization and mapping Three-dimensional displays
title	Underwater stereo SLAM with refraction correction
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