Improved real-time videomosaicking of the ocean floor
S.D. Fleischer, R.L. Marks, Stephen M. Rock, M.J. Lee · 2002
Presents a new method for the real-time creation of video mosaics of the ocean floor from a semi-autonomous underwater vehicle. The authors' approach uses iterative smoother-follower techniques to reduce the propagation of image alignment errors within the mosaic. This improvement relaxes previous constraints on mosaic size and shape, thereby enabling real-time, autonomous video mosaicking along unconstrained vehicle paths. Simulation results which demonstrate the advantages of their approach and preliminary experimental work are presented.