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Registration of Multiple Acoustic Range Views for Underwater Scene Reconstruction

Umberto Castellani, Andrea Fusiello, Vittorio Murino
2002 Computer Vision and Image Understanding  
This paper proposes a technique for the three-dimensional reconstruction of an underwater environment from multiple acoustic range views acquired by a remotely operated vehicle.  ...  Our approach does not use data points after the first pairwise registration, for it works only on the transformations. Therefore, it is fast and occupies only a small amount of memory.  ...  CONCLUSIONS In this paper we propose a technique for 3D object reconstruction from multiple acoustic range views, acquired by an underwater acoustic sensor.  ... 
doi:10.1006/cviu.2002.0984 fatcat:s5n6hvteu5estevmzxxq5ojgde

Underwater imaging with a moving acoustic lens

B. Kamgar-Parsi, L.J. Rosenblum, E.O. Belcher
1998 IEEE Transactions on Image Processing  
This introduces the problem of data fusion from multiple overlapping views for scene formation, which we discuss.  ...  The acoustic lens is a high-resolution, forwardlooking sonar for three-dimensional (3-D) underwater imaging.  ...  Jones for organizing the experiments, and Behrooz Kamgar-Parsi for many helpful discussions.  ... 
doi:10.1109/83.650853 pmid:18267382 fatcat:7hei7miabrdiflrasn2w4tmphi

A complete system for on-line 3D modelling from acoustic images

U. Castellani, A. Fusiello, V. Murino, L. Papaleo, E. Puppo, M. Pittore
2005 Signal processing. Image communication  
This paper presents a system for the three-dimensional (3D) reconstruction of an underwater environment on the basis of multiple range views from an acoustical camera.  ...  The challenge is to provide the reconstruction on-line, as the range views are obtained from the sensor.  ...  ARTICLE IN PRESS Conclusions This paper presented a technique for on-line 3D scene reconstruction from a sequence of range data acquired by an acoustic camera.  ... 
doi:10.1016/j.image.2005.02.003 fatcat:ew73bw5khvayfowomljyyq6csm

Model Acquisition by Registration of Multiple Acoustic Range Views [chapter]

Andrea Fusiello, Umberto Castellani, Luca Ronchetti, Vittorio Murino
2002 Lecture Notes in Computer Science  
This paper deals with the three-dimensional reconstruction of an underwater environment from multiple acoustic range views acquired by a remotely operated vehicle.  ...  The problem is made challenging by the very noisy nature of the data, the low resolution and the narrow field of view of the sensor.  ...  Conclusions In this paper we propose a technique for 3D object reconstruction from multiple acoustic range views, acquired by an underwater ROV.  ... 
doi:10.1007/3-540-47967-8_54 fatcat:i5txmvqzlfgxjjvcf5hkuer36u

Augmented scene modeling and visualization by optical and acoustic sensor integration

A. Fusiello, V. Murino
2004 IEEE Transactions on Visualization and Computer Graphics  
In this paper, underwater scene modeling from multisensor data is addressed.  ...  Two sensing channels (optical and acoustic) are mostly used underwater.  ...  Subsequent higher-level stages, like classification and reconstruction (for the acoustic channel) and recognition and model-view registration (for both channels), are obviously tailored to the kind of  ... 
doi:10.1109/tvcg.2004.38 pmid:15527045 fatcat:a26luyhut5gfzaepmuzltf5bza

An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

Antonio Lagudi, Gianfranco Bianco, Maurizio Muzzupappa, Fabio Bruno
2016 Sensors  
This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition.  ...  It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s16040536 pmid:27089344 pmcid:PMC4851050 fatcat:wo3hymam5fd3bjbfufkrrb6ksi

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

Ricard Campos, Nuno Gracias, Pere Ridao
2016 Sensors  
With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level.  ...  First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between  ...  Georeferencing the Reconstruction Once we have the scene and camera trajectory reconstructed from optical data alone, possibly in the form of multiple unconnected reconstructions, we need a way of georeferencing  ... 
doi:10.3390/s16030387 pmid:26999144 pmcid:PMC4813962 fatcat:wofrqymxuvccrbizg2xwiylir4

A noncoherent correlation technique and focused beamforming for ultrasonic underwater imaging: a comparative analysis

V. Murino, C.S. Regazzoni, A. Trucco, G. Vernazza
1994 IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control  
Murino, "Registration of multiple acoustic range views for underwater scene reconstruction", Computer Vision and Image Understanding, Vol. 87, no. 3, 2002, pp. 78-89. [A37] M. Bicego, V.  ...  [A33] V.Murino, "Reconstruction and Segmentation of Underwater Acoustic Images combining Confidence Information in MRF Models", Pattern Recognition, Vol.  ... 
doi:10.1109/58.308497 fatcat:2zsjxyxp6zhynmrzbmapnfj6by

Towards High-resolution Imaging from Underwater Vehicles

Hanumant Singh, Chris Roman, Oscar Pizarro, Ryan Eustice, Ali Can
2007 The international journal of robotics research  
For both the optical and acoustic mapping cases it is also shown how the consistency in mapping can be used not only for better global mapping, but also to refine navigation estimates.  ...  Specifically, the focus is on the related problems of structure from motion from underwater optical imagery assuming pose instrumented calibrated cameras.  ...  Acknowledgements The authors gratefully acknowledge a multitude of collaborators on the following research expeditions from which data for this paper were gathered-Dr Rob Reves Sohn (Bermuda Coral and  ... 
doi:10.1177/0278364907074473 fatcat:sziqs2tlenhqdo45frbybiph6a

Three-dimensional reconstruction of underwater objects using wide-aperture imaging SONAR

Thomas Guerneve, Kartic Subr, Yvan Petillot
2018 Journal of Field Robotics  
Acknowledgments The authors would like to thank Subsea 7 for providing access to the AIV data. This project was funded under the Marie Curie ITN program Robocademy FP7-PEOPLE-2013-ITN-608096.  ...  need for embedding multiple acoustic sensors of different apertures.  ...  A number of different sensors have been proposed to perform imaging and 3D reconstruction of underwater scenes.  ... 
doi:10.1002/rob.21783 fatcat:ohg2qsj2rjbkziasugnyedlo2u

Calibration of optical camera coupled to acoustic multibeam for underwater 3D scene reconstruction

N. Hurtos, X. Cufi, J. Salvi
2010 OCEANS'10 IEEE SYDNEY  
Combination of optical and acoustic sensors to overcome the shortcomings presented by optical systems in underwater 3D acquisition is an emerging field of research.  ...  In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate its potential use in 3D reconstruction.  ...  In order to obtain 3D information, scene key points from multiple underwater views (either supplied by multiple cameras or by a single moving camera) can be used to extract 3D estimates.  ... 
doi:10.1109/oceanssyd.2010.5603907 fatcat:kpnqak3h5baodlibzttxyxi42q

ROV-3D, 3D Underwater Survey Combining Optical and Acoustic Sensor [article]

Pierre Drap, Djamal Merad, Jean-Marc Boï, Wafia Boubguira, Amine Mahiddine, Bertrand Chemisky, Emmanuelle Seguin, Frederic Alcala, Olivier Bianchimani
2011 VAST: International Symposium on Virtual Reality  
ROV 3D project aims at developing innovative tools which link underwater photogrammetry and acoustic measurements from an active underwater sensor.  ...  The results will be 3D high resolution surveys of underwater sites.  ...  Close range acoustic and optical survey Under the ROV-3D project we experimented with the fusion of acoustic data from two sensors, high precision, high frequency acoustic camera sold by Blue View and  ... 
doi:10.2312/vast/vast11/177-184 fatcat:sr5ol3oxujdire33g6z2wbe5hy

Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection

Ayoung Kim, R. Eustice
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The goal of this work is to automatically map and navigate the underwater surface area of a ship hull for foreign object detection and maintenance inspection tasks.  ...  This allows the image registration engine to exploit geometry information at the early stages of estimation, which results in better navigation and structure reconstruction via more accurate and robust  ...  ACKNOWLEDGMENTS This work is supported through a grant from the Office of Naval Research (ONR) (Award #N00014-07-1-0791).  ... 
doi:10.1109/iros.2009.5354132 dblp:conf/iros/KimE09 fatcat:dliiabc5wzccdjoyn2leckxyi4

Underwater Multimodal Survey: Merging Optical and Acoustic Data [chapter]

Pierre Drap, Djamal Merad, Jean-Marc Boï, Amine Mahiddine, Daniela Peloso, Bertrand Chemisky, Emmanuelle Seguin, Frederic Alcala, Olivier Bianchimani
2014 Underwater Seascapes  
ROV 3D project aims at developing innovative tools which link underwater photogrammetry and acoustic measurements from an active underwater sensor.  ...  presenting a new method of 3D surveys which are dedicated to high resolution modeling of underwater sites.  ...  of software for automatic registration between two models.  ... 
doi:10.1007/978-3-319-03440-9_14 fatcat:btysdtppk5e3zfnpolrjiomiki

High-Resolution Underwater Robotic Vision-Based Mapping and Three-Dimensional Reconstruction for Archaeology

Matthew Johnson-Roberson, Mitch Bryson, Ariell Friedman, Oscar Pizarro, Giancarlo Troni, Paul Ozog, Jon C. Henderson
2016 Journal of Field Robotics  
2016) Highresolution underwater robotic vision-based mapping and three-dimensional reconstruction for archaeology. Journal of Field Robotics .  ...  adjustment framework that is capable of handling upward of 400,000 stereo images; and iii) a novel approach to the registration and rapid documentation of an underwater excavations area that can quickly  ...  Derek, Eugienia for marking out the survey areas and spending time underwater managing the survey guide line and poles.  ... 
doi:10.1002/rob.21658 fatcat:g4kywazopvb6vg7hutffl7ynpm
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