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Nontemporal relative pose estimation for Opti-Acoustic bundle adjustment

Authors
Gwon, D.-H.Shin, Y.-S.Kim, Y.Kim, A.Lee, Y.Choi, H.-T.
Issue Date
2016
Publisher
Institute of Electrical and Electronics Engineers Inc.
Citation
OCEANS 2016 MTS/IEEE Monterey, OCE 2016
Journal Title
OCEANS 2016 MTS/IEEE Monterey, OCE 2016
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8525
DOI
10.1109/OCEANS.2016.7761110
ISSN
0000-0000
Abstract
This paper presents the bundle adjustment (BA) between a sonar and optical image for an Opti-Acoustic sensor model. An Opti-Acoustic sensor model allows heterogeneous sensor fusion of an optical camera and acoustic sonar that have a mutual supplementary relation. There are two challenges to the Opti-Acoustic method. First, it is difficult to guarantee a common view from the two significantly different sensor field of view. Second, it is tough to figure out the correspondences between the camera and sonar image, since those sensors have heterogeneous sensor geometries. This paper focuses on the first issue by proposing asynchronously applicable relative motion estimation via BA. For the second issue, we propose using a Dense Adaptive Self-Correlation Descriptor (DASC) to establish correspondences between an optical camera and a sonar image. The proposed Opti-Acoustic BA is validated through autonomous underwater vehicle (AUV) simultaneous localization and mapping (SLAM) in both simulated and real tank tests. ? 2016 IEEE.
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