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Contribution à la construction de mosaïques d'images sous-marines géo-référencées par l'introduction de méthodes de localisation

Abstract : In the underwater environment, an image mosaic allows to obtain a panoramic view of a site of interest. The image sequence, used to create such mosaic, is acquired by a moving vehicle. The vehicle trajectory is estimated by a simple speed vector integration. As a consequence, a drift appears. This is directly palpable on the mosaic, especially when the vehicle crosses its own trajectory (at "rendezvous" times). This work consists in estimating as precisely as possible, the trajectory from angle and speed measurements and an image sequence, by taking into account the rendezvous times. First, the couples of rendezvous times are estimated, then they are introduced in the vehicle localization algorithm. Second, the mosaic is created from these estimated positions. The proposed methodology could allow to obtain a more accurate cartography, provided the motion parameter variances are available. In this case, a fusion between the estimated trajectory and the optical trajectory (obtained by the image sequence motion only) is feasible. Otherwise, the visual map is finally enhanced by image warping methods.
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https://tel.archives-ouvertes.fr/tel-00009564
Contributor : Manon Borgetto <>
Submitted on : Wednesday, June 22, 2005 - 3:34:49 PM
Last modification on : Thursday, October 3, 2019 - 1:11:56 AM
Long-term archiving on: : Friday, April 2, 2010 - 10:23:27 PM

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  • HAL Id : tel-00009564, version 1

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Manon Borgetto. Contribution à la construction de mosaïques d'images sous-marines géo-référencées par l'introduction de méthodes de localisation. Interface homme-machine [cs.HC]. Université du Sud Toulon Var, 2005. Français. ⟨tel-00009564⟩

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