Real-time Visual Mosaicking and Navigation on the Seafloor

Real-time Visual Mosaicking and Navigation on the Seafloor

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The system achieves real-time performance in several ways. First, wherever possible, direct sensing of motion parameters is used in place of extracting them from visual data. Second, trajectories are chosen to enable a hierarchical search for side-to-side links which limits the amount of searching performed without sacrificing robustness. Finally, the map estimation is formulated as a sparse, linear information filter allowing rapid updating of large maps.(5.35) This system can be solved for state vectors tracking thousands of tiles on standard PC hardware in less than a second with standard sparse solvers. ... post -processing, while subsampled versions are used by the real-time visual mosaicking and navigation system. ... The resulting horizontal velocity (ignoring time spent at the end of passes) is then vw = V^. ... Note that D exists for any mosaicking application, whether off-line or online, automated or manual, and regardless ofanbsp;...

Title:Real-time Visual Mosaicking and Navigation on the Seafloor
Publisher:ProQuest - 2009

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