This paper addresses the problem of estimating the 3D trajectory and associated uncertainty of an underwater autonomous vehicle from a set of images of the sea-bed taken by an on-board camera. The algorithms presented resort to the use of video mosaics and build upon previous work on image registration and visual pose estimation. The pose estimation is accomplished in two steps. First, a video mosaic is created automatically, covering a region of interest of the sea-bed. Then, after associating a 3D referential for the mosaic, the estimation of the camera position from a new view of the scene becomes possible. An image sequence with available ground-truth is used for precise error measuring. A first-order error propagation analysis is presented, relating the uncertainty in the location of the match points with the uncertainty in the pose parameters. Several iterative and non-iterative pose estimation methods are discussed. The implemented pose algorithms are compared for the accuracy and estimate covariance.


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    Title :

    Trajectory reconstruction with uncertainty estimation using mosaic registration


    Contributors:

    Published in:

    Publication date :

    2001


    Size :

    15 Seiten, 14 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English







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