Efficient image mosaicing for multi-robot visual underwater mapping

•Efficient image mosaicing method for multi-robot mapping.•Obtaining the topology with a reduced number of matching attempts.•Creating visual maps with high computational gain and low computational requirement. Robotic platforms have advanced greatly in terms of their remote sensing capabilities, in...

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Bibliographic Details
Published in:Pattern recognition letters 2014-09, Vol.46, p.20-26
Main Authors: Elibol, Armagan, Kim, Jinwhan, Gracias, Nuno, Garcia, Rafael
Format: Article
Language:English
Subjects:
Computer vision
Image mosaicing
Image processing
Imatges
Mobile robots
Robots mòbils
Segmentació
Submersibles
Unmanned underwater vehicles
Vehicles submergibles
Visió per ordinador
Visual mapping
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Summary:•Efficient image mosaicing method for multi-robot mapping.•Obtaining the topology with a reduced number of matching attempts.•Creating visual maps with high computational gain and low computational requirement. Robotic platforms have advanced greatly in terms of their remote sensing capabilities, including obtaining optical information using cameras. Alongside these advances, visual mapping has become a very active research area, which facilitates the mapping of areas inaccessible to humans. This requires the efficient processing of data to increase the final mosaic quality and computational efficiency. In this paper, we propose an efficient image mosaicing algorithm for large area visual mapping in underwater environments using multiple underwater robots. Our method identifies overlapping image pairs in the trajectories carried out by the different robots during the topology estimation process, being this a cornerstone for efficiently mapping large areas of the seafloor. We present comparative results based on challenging real underwater datasets, which simulated multi-robot mapping.
ISSN:0167-8655
1872-7344
DOI:10.1016/j.patrec.2014.04.020