Development of an underwater vision sensor for 3D reef mapping

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 5351-5356

  Hogue, Andrew ^a   Jenkin, Michael ^a  

^a YORK UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONFORMAL MAPPING; IMAGE RECONSTRUCTION; ROBOTICS; STEREO VISION; UNDERWATER CAMERAS;

REEF MAPPING; ROBOTIC MAPPING; UNDERWATER VISION BASED SENSORS; UNDERWATER VISION SENSORS;

IMAGE SENSORS;

EID: 34250616378     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282097     Document Type: Conference Paper

References (27)

1. Y. Furushima, H. Yamamoto, T. Maruyama, T. Ohyagi, Y. Yamanmra, S. Imanaga, S. Fujishima, Y. Nakazawa, and A. Shimamura, "Necessity of bottom topography measurements in coral reef regions," in MIS/IEEE OCEANS, Nov. 9-12 2004, pp. 930 - 935.
2. M. Soriano, S. Marcos, C. Saloma, M. Quibilan, and P. Alino, "Image classification of coral reef components from underwater color video," in MTS/IEEE OCEANS, Nov. 5-8 2001, pp. 1008 - 1013.
3. M. Marcos, M. Soriano, and C. Saloma, "Classification of coral reef images from underwater video using neural networks," Optics Express, no. 13, pp. 8766-8771, 2005.
4. G. Dudek, M. Jenkin, C. Prahacs, A. Hogue, J. Sattar, P. Giguere, A. German, H. Liu, S. Saunderson, A. Ripsman, S. Simhon, L. Torres, E. Milios, P. Zhang, and I. Rekleitis, "A visually guided swimming robot," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Aug. 2-6 2005.
5. R. Eustice, H. Singh, and J. Leonard, "Exactly Sparse Delayed-State Filters," in IEEE International Conference on Robotics and Automation (ICRA), Apr. 18-22 2005.
6. R. Eustice, "Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles," Ph.D. dissertation, MIT - Woods Hole Oceanographic Institute, June 2005.
7. O. Pizarro, R. Eustice, and H. Singh, "Large Area 3D Reconstructions from Underwater Surveys," in MTS/IEEE OCEANS Conference and Exhibition, November 2004, pp. 678-687, Kobe, Japan.
8. S. Williams and I. Mahon, "Simultaneous Localisation and Mapping on the Great Barrier Reef," in IEEE International Conference on Robotics and Automation (ICRA), April 26-May 1 2004.
9. R. Smith and P. Cheeseman, "On the Representation and Estimation of Spatial Uncertainty," International Journal of Robotics Research, vol. 5, no. 4, pp. 56-68, 1986.
10. R. Smith, M. Self, and P. Cheeseman, "Estimating uncertain spatial relationships in robotics," Autonomous Robot Vehicles, pp. 167-193, 1990.
11. E. Nettleton, P. Gibbens, and H. Durrant-Whyte, "Closed form solutions to the multiple platform simultaneous localisation and map building (SLAM) problem," in Sensor Fusion: Architectures, Algorithms,and Applications IV, B. Dasarathy, Ed., 2000, pp. 428-437.
12. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, "FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges," in Proceedings of the 18th International Joint Conference on Artificial Intelligence (IJCAI), 2003.
13. C. Georgiades, A. German, A. Hogue, H. Liu, C. Prahacs, A. Ripsman, R. Sim, L. Torres, P. Zhang, M. Buehler, G. Dudek, M. Jenkin, and E. Milios, "AQUA: an aquatic walking robot," in The 7th Unmanned Underwater Vehicle Showcase (UUVS), Sep. 28-29 2004, Southampton Oceanography Centre, UK.
14. _, "AQUA: an aquatic walking robot," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 28 - Oct. 2 2004, pp. 3525-3531.
15. C. Georgiades, A. Hogue, H. Liu, A. Ripsman, R. Sim, L. Torres, P. Zhang, C. Prahacs, M. Buehler, G. Dudek, M. Jenkin, and E. Milios, "AQUA: an aquatic walking robot," Dalhousie University, Nova Scotia, Canada, Tech. Rep. CS-2003-08, Sept 28 - Oct 2 2003.
16. R. Altendorfer, N. Moore, H. Komsuoglu, M. Buehler, H. B. Brown Jr., D. McMordie, U. Saranli, R. Full, and D. Koditschek, "RHex: A Biologically Inspired Hexapod Runner," Autonomous Robots, vol. 11, pp. 207-213, 2001.
17. A. Hogue, A. German, J. Zacher, and M. Jenkin, "Underwater 3D Mapping: Experiences and Lessons Learned," in Third Canadian Conference on Computer and Robot Vision (CRV), June 7-9 2006.
18. Z. Zhang, "A Flexible New Technique for Camera Calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), vol. 22, no. 11, pp. 1330-1334, November 2000.
19. J. Mulligan, V. Isler, and K. Danniilidis, "Trinocular Stereo: a Real-Time Algorithm and its Evaluation," International Journal of Computer Vision, vol. 47, pp. 51-61, 2002.
20. J. Shi and C. Tomasi, "Good Features to Track," in IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 21-23 1994, pp. 593 - 600.
21. B. Lucas and T. Kanade, "An Iterative Image Registration Technique with an Application to Stereo Vision," in International Joint Conference on Artificial Intelligence (IJCAI), 1981, pp. 674-679.
22. M. Fischler and R. Bolles, "Random sample consensus: A paradigm for model fitting with application to image analysis and automated cartography," Communications of the ACM, vol. 24, no. 6, pp. 381-385, 1981.
23. B. Horn, "Closed-form solution of absolute orientaiton using unit quaternions," AI Magazine, vol. A, no. 4, p. 629, April 1987.
24. W. Press, S. Teukolsky, W. Vetterling, and B. Flannery, Numerical Recipes in C. Cambridge University Press, 2002.
25. E. Weisstein, "Rodrigues' Rotation Formula." From MathWorld-A Wolfram Web Resource. http://mat.hworld.wolfram.com/RodriguesRotationFormula. html, 2006.
26. B. Triggs, P. McLauchlan, R. Hartley, and A. Fitzgibbon, Bundle Adjustment - A Modern Synthesis, ser. Lecture Notes in Computer Science. Springer-Verlag, 2000, pp. 278-375.
27. S. Frisken, "Constrained Elastic SurfaceNets: Generating Smooth Models from Binary Segmented Data," in International Conference on Medical Image Computing and Computer-Assisted Intervention, October 1998, pp. 888-898.