Forward-looking Sonar Image Mosaicking by Feature Tracking

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	Forward-looking Sonar Image Mosaicking by Feature Tracking
	Song SM(宋三明); J. Michael Herrmann; Liu KZ(刘开周); Li S(李硕); Feng XS(封锡盛)
	2016
会议名称	2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期	December 3-7, 2016
会议地点	Qingdao, China
页码	1613-1618
通讯作者	宋三明
中文摘要	High-frequency forward-looking sonar are appropriate for the operation or search close to the seabed. Constructing a panoramic mosaic not only facilitates an interpretation of the underwater environment, but also supports the vehicle’s self-localization. In this paper, a method to register sonar sequences is proposed that is based on the feature tracking using the particle filtering. Our methods starts with the extraction of the intensity, the texture and the shape features from the unstructured seabed environment. Next a region of interest (ROI) is tracked until it disappears from the view field of an autonomous underwater vehicle (AUV). Then, another ROI is selected and the tracking procedures are repeated. Experimental results show that (1) Feature tracking is feasible for the forward-looking sonar image mosaicking. (2) Fusion of the texture and the shape feature lead to a robust feature extraction method for more precise motion estimation. (3) The prior information on the AUV’s movement is necessary for the tracking of highlighted regions.
收录类别	EI
产权排序	1
会议录	Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5090-4363-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19687]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Song SM,J. Michael Herrmann,Liu KZ,et al. Forward-looking Sonar Image Mosaicking by Feature Tracking[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016.