Seabed Modeling and Distractor Extraction for Mobile AUVs Using Light Field Filtering
A method is presented for isolating moving distractors from a static background in imagery captured by a hovering or slowly moving Autonomous Underwater Vehicle (AUV). By reparameterizing a set of monocular images into a light field structure, it becomes possible to apply a linear fan filter and its inverse to extract the background and distractors, respectively. Results are shown for a hovering AUV imaging a region with non-trivial 3D structure and containing moving elements. The output is a distractor-free 3D light field model of the sea floor and a set of images of isolated distractors. We show that the technique is insensitive to parallax in the background elements, outperforming pixel differencing techniques.
Donald G. Dansereau Stefan B. Williams
Australian Centre for Field Robotics,School of Aerospace,Mechanical and Mechatronic Engineering University of Sydney,NSW,Australia
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1634-1639
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）