A Robust Approach for Monocular Visual Odometry in Underwater Environments

This work presents a visual odometric system for camera tracking in underwater scenarios of the seafloor which are strongly perturbed with sunlight caustics and cloudy water. Particularly, we focuse on the performance and robustnes of the system, which structurally associates a deflickering filter w...

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Detalles Bibliográficos
Autores principales: Jordán, Mario A., Trabes, Emanuel, Delrieux, Claudio
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2019
Materias:
Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/87940
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-87940
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
spellingShingle Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
Jordán, Mario A.
Trabes, Emanuel
Delrieux, Claudio
A Robust Approach for Monocular Visual Odometry in Underwater Environments
topic_facet Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
description This work presents a visual odometric system for camera tracking in underwater scenarios of the seafloor which are strongly perturbed with sunlight caustics and cloudy water. Particularly, we focuse on the performance and robustnes of the system, which structurally associates a deflickering filter with a visual tracker. Two state-of-the-art trackers are employed for our study, one pixel-oriented and the other feature-based. The contrivances of the trackers were crumbled and their suitability for underwater environments analyzed comparatively. To this end real subaquatic footages in perturbed environments were employed.
format Objeto de conferencia
Objeto de conferencia
author Jordán, Mario A.
Trabes, Emanuel
Delrieux, Claudio
author_facet Jordán, Mario A.
Trabes, Emanuel
Delrieux, Claudio
author_sort Jordán, Mario A.
title A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_short A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_full A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_fullStr A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_full_unstemmed A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_sort robust approach for monocular visual odometry in underwater environments
publishDate 2019
url http://sedici.unlp.edu.ar/handle/10915/87940
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