A hybrid registration approach combining SLAM and elastic matching for automatic side-scan sonar mosaic - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2014

A hybrid registration approach combining SLAM and elastic matching for automatic side-scan sonar mosaic

Résumé

This paper introduces a hybrid registration approach to build mosaics from side-scan sonar images. Due to specific acquisition procedure during surveys, standard SLAM techniques may not be robust enough to globally take into account a complete survey and correct sensor trajectories in order to properly georeference every pixel from all these images. iSAM algorithm has been fed with real side-scan images and shows interesting capabilities to produce corrected sensor trajectories allowing relevant coarse image registration, based on landmarks extraction and pairing. These trajectories will then guide a block-matching procedure that will refine these trajectories by finely matching only sonar images relevant areas.
Fichier non déposé

Dates et versions

hal-01207117 , version 1 (30-09-2015)

Identifiants

Citer

Loïc Bernicola, Didier Gueriot, Jean-Marc Le Caillec. A hybrid registration approach combining SLAM and elastic matching for automatic side-scan sonar mosaic. OCEANS 2014 -St John's : MTS/IEEE international conference, Sep 2014, St. John'S, Canada. pp.1 - 5, ⟨10.1109/OCEANS.2014.7003160⟩. ⟨hal-01207117⟩
125 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More