A dynamic vision system for tracking and localization of underwater objects
Resource
Underwater Technology, 2004. UT '04. 2004 International Symposium on
Journal
Underwater Technology, 2004. UT '04. 2004 International Symposium on
Pages
-
Date Issued
2004
Date
2004
Author(s)
Cheng, Sheng-Wen
Hsu, Huai-Wen
Cheng, Shiao-Chung
DOI
N/A
Abstract
We describe the development of an underwater cross-range high-accuracy 3D metrology by utilizing a pair of video cameras for underwater vehicle applications. The novelty of the approach lies in (1) a polynomial representation of image non-linear distortion induced by lens system and surrounding water; (2) the transfer of photogrammetric bundle adjustment techniques to underwater ranging; and (3) a new representation of underwater stereo vision including camera self-calibration, match points searching, and computation of the target coordinates. We demonstrate that our method achieves better flexibility and accuracy compared to traditional stereographic methods.
SDGs
Type
journal article
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