000 03579nam a22005655i 4500
001 978-3-642-30313-5
003 DE-He213
005 20200421111852.0
007 cr nn 008mamaa
008 120808s2013 gw | s |||| 0|eng d
020 _a9783642303135
_9978-3-642-30313-5
024 7 _a10.1007/978-3-642-30313-5
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aElibol, Armagan.
_eauthor.
245 1 0 _aEfficient Topology Estimation for Large Scale Optical Mapping
_h[electronic resource] /
_cby Armagan Elibol, Nuno Gracias, Rafael Garcia.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg :
_bImprint: Springer,
_c2013.
300 _aXVI, 88 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v82
505 0 _aFeature-Based Image Mosaicing -- New Global Alignment Method -- Combined ASKF-EKF Framework for Topology Estimation -- Topology Estimation using Bundle Adjustment -- Conclusions -- New Global Alignment Method -- Combined ASKF-EKF Framework for Topology Estimation -- Topology Estimation using Bundle Adjustment.
520 _aLarge 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.  .
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aComputational intelligence.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aSignal, Image and Speech Processing.
650 2 4 _aComputational Intelligence.
700 1 _aGracias, Nuno.
_eauthor.
700 1 _aGarcia, Rafael.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642303128
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v82
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-30313-5
912 _aZDB-2-ENG
942 _cEBK
999 _c56159
_d56159