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- 巻 俊宏
- 東京大学生産技術研究所
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- 浦 環
- 東京大学生産技術研究所
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- Singh Hanumant
- ウッズホール海洋研究所
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- 坂巻 隆
- 東京大学生産技術研究所
書誌事項
- タイトル別名
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- 3D photo mosaicing of Tagiri shallow vent field by an autonomous underwater vehicle (3rd report) - Mosaicing method based on navigation data and visual features -
- ジリツガタ スイチュウ ロボット ニ ヨル カゴシマワンタギリ フンキタイ ノ 3ジゲン ガゾウ マッピング ダイ3ポウ ソクイ ジョウホウ ト シカクテキ トクチョウ ノ ヘイヨウ ニ ヨル ガゾウ モザイキング シュホウ
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抄録
Large-area seafloor imaging will bring significant benefits to various fields such as academics, resource survey, marine development, security, and search-and-rescue. The authors have proposed a navigation method of an autonomous underwater vehicle for seafloor imaging, and verified its performance through mapping tubeworm colonies with the area of 3,000 square meters using the AUV Tri-Dog 1 at Tagiri vent field, Kagoshima bay in Japan (Maki et al., 2008, 2009).<br>This paper proposes a post-processing method to build a natural photo mosaic from a number of pictures taken by an underwater platform. The method firstly removes lens distortion, invariances of color and lighting from each image, and then ortho-rectification is performed based on camera pose and seafloor estimated by navigation data. The image alignment is based on both navigation data and visual characteristics, implemented as an expansion of the image based method (Pizarro et al., 2003). Using the two types of information realizes an image alignment that is consistent both globally and locally, as well as making the method applicable to data sets with little visual keys.<br>The method was evaluated using a data set obtained by the AUV Tri-Dog 1 at the vent field in Sep. 2009. A seamless, uniformly illuminated photo mosaic covering the area of around 500 square meters was created from 391 pictures, which covers unique features of the field such as bacteria mats and tubeworm colonies.
収録刊行物
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- 海洋調査技術
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海洋調査技術 23 (1), 1_1-1_10, 2011
海洋調査技術学会
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詳細情報 詳細情報について
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- CRID
- 1390001204340002048
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- NII論文ID
- 130004836983
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- NII書誌ID
- AN10198626
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- ISSN
- 21854920
- 09152997
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- NDL書誌ID
- 11125358
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可