Estimating the motion of an underwater robot from a monocular image sequence

  title={Estimating the motion of an underwater robot from a monocular image sequence},
  author={Rafael Garc{\'i}a and Xevi Cuf{\'i} and Marc Carreras},
When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the… CONTINUE READING
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