Nontemporal relative pose estimation for Opti-Acoustic bundle adjustment
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Gwon, D.-H. | - |
dc.contributor.author | Shin, Y.-S. | - |
dc.contributor.author | Kim, Y. | - |
dc.contributor.author | Kim, A. | - |
dc.contributor.author | Lee, Y. | - |
dc.contributor.author | Choi, H.-T. | - |
dc.date.accessioned | 2023-12-22T08:30:55Z | - |
dc.date.available | 2023-12-22T08:30:55Z | - |
dc.date.issued | 2016 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8525 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Nontemporal relative pose estimation for Opti-Acoustic bundle adjustment | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/OCEANS.2016.7761110 | - |
dc.identifier.scopusid | 2-s2.0-85006868961 | - |
dc.identifier.bibliographicCitation | OCEANS 2016 MTS/IEEE Monterey, OCE 2016 | - |
dc.citation.title | OCEANS 2016 MTS/IEEE Monterey, OCE 2016 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Acoustic devices | - |
dc.subject.keywordPlus | Acoustic equipment | - |
dc.subject.keywordPlus | Adaptive optics | - |
dc.subject.keywordPlus | Autonomous underwater vehicles | - |
dc.subject.keywordPlus | Cameras | - |
dc.subject.keywordPlus | Geometrical optics | - |
dc.subject.keywordPlus | Motion estimation | - |
dc.subject.keywordPlus | Optical correlation | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Sonar | - |
dc.subject.keywordPlus | Acoustic method | - |
dc.subject.keywordPlus | Acoustic Sensors | - |
dc.subject.keywordPlus | Autonomous underwater vehicles (AUV) | - |
dc.subject.keywordPlus | Bundle adjustments | - |
dc.subject.keywordPlus | Heterogeneous sensors | - |
dc.subject.keywordPlus | Optical camera | - |
dc.subject.keywordPlus | Self correlation | - |
dc.subject.keywordPlus | Simultaneous localization and mapping | - |
dc.subject.keywordPlus | Underwater acoustics | - |
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