Performance and accuracy in visual motion computation from FS sonar video sequences

Shahriar Negahdaripour, Hassan Assalih, Yvan Petillot, Lisa N. Brisson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In addition to its numerous terrestrial applications, the capability to compute self (or a target's) 3-D motion is important for many underwater operations. While optical systems are the most common imaging modality above the sea, serious complexities arise when the mission is to be carried out beneath the sea surface, with turbidity being the most prohibiting factor. Acoustic-based imaging and methods, because of the ability to penetrate silt and other sources of turbidity, offer a more effective solution. It is thus desired to devise robust motion vision techniques comparable to those realized for optical cameras. In this paper, we explore the impact of selected key factors on the accuracy of motion estimation from 2-D sonar cameras. These factors comprise the field of view of the camera, the number of feature matches in a motion sequence, and the inaccuracy in the knowledge of their image positions. The significance of each factor is analyzed based on the variances of the sought after motion parameters. We also present various results from an experiment with real data, where we apply different measures that provide us with ground truth for the quantitative assessment of the motion estimation accuracy. ©2010 IEEE.

Original languageEnglish
Title of host publicationMTS/IEEE Seattle, OCEANS 2010
DOIs
Publication statusPublished - 2010
EventMTS/IEEE Seattle, OCEANS 2010 - Seattle, WA, United States
Duration: 20 Sep 201023 Sep 2010

Conference

ConferenceMTS/IEEE Seattle, OCEANS 2010
CountryUnited States
CitySeattle, WA
Period20/09/1023/09/10

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