Springer Tracts in Advanced Robotics

Efficient Topology Estimation for Large Scale Optical Mapping

Authors: Elibol, Armagan, Gracias, Nuno, Garcia, Rafael

  • Presents computational algorithms for the efficient estimation of large-scale photomosaics
  • Presents consistent tools for creating large area image mosaics from optical data obtained during surveys with low-cost underwater vehicles
  • Written by leading experts in the field
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About this book

Large scale optical mapping methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost ROVs usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This book contributes to the state-of-art in large area image mosaicing methods for underwater surveys using low-cost vehicles equipped with a very limited sensor suite. The main focus has been on global alignment and fast topology estimation, which are the most challenging steps in creating large area image mosaics. This book is intended to emphasise the importance of the topology estimation problem and to present different solutions using interdisciplinary approaches opening a way to further develop new strategies and methodologies.

 

Table of contents (6 chapters)

  • Introduction

    Elibol, Armağan (et al.)

    Pages 1-8

  • Feature-Based Image Mosaicing

    Elibol, Armağan (et al.)

    Pages 9-23

  • A New Global Alignment Method for Feature Based Image Mosaicing

    Elibol, Armağan (et al.)

    Pages 25-39

  • Combined ASKF-EKF Framework for Topology Estimation

    Elibol, Armağan (et al.)

    Pages 41-59

  • Topology Estimation Using Bundle Adjustment

    Elibol, Armağan (et al.)

    Pages 61-76

Buy this book

eBook $79.95
price for USA (gross)
  • ISBN 978-3-642-30313-5
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $109.00
price for USA
  • ISBN 978-3-642-30312-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover n/a
  • ISBN 978-3-642-43203-3
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Efficient Topology Estimation for Large Scale Optical Mapping
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
82
Copyright
2013
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag GmbH Berlin Heidelberg
eBook ISBN
978-3-642-30313-5
DOI
10.1007/978-3-642-30313-5
Hardcover ISBN
978-3-642-30312-8
Softcover ISBN
978-3-642-43203-3
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XVI, 88
Topics