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Robotic underwater vehicles can perform vast optical
surveys of the ocean floor. Scientists value these surveys since
optical images offer high levels of information and are easily
interpreted by humans. Unfortunately the coverage of a single
image is limited hy absorption and backscatter while what is
needed is an overall view of the survey area. Recent work on
underwater mosaics assume planar scenes and are applicable
only to Situations without much relief.
We present a complete and validated system for processing
optical images acquired from an underwater mbotic vehicle to
form a 3D reconstruction of the wean floor. Our approach is
designed for the most general conditions of wide-baseline imagery
(low overlap and presence of significant 3D structure) and scales
to hundreds of images. We only assume a calibrated camera
system and a vehicle with uncertain and possibly drifting pose
information (e.g. a compass, depth sensor and a Doppler velocity
Our approach is based on a combination of techniques from
computer vision, photogrammetry and mhotics. We use a local
to global approach to structure from motion, aided by the
navigation sensors on the vehicle to generate 3D suhmaps. These
suhmaps are then placed in a common reference frame that
is refined by matching overlapping submaps. The final stage of
processing is a bundle adjustment that provides the 3D structure,
camera poses and uncertainty estimates in a consistent reference
frame.
We present results with ground-truth for structure as well as
results from an oceanographic survey over a coral reef covering
an area of appmximately one hundred square meters.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/86037/1/opizarro-33.pd
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