1P1-C27 自律型水中ロボットにおける自動モザイク画像生成システム

概要

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Underwater robots are expected as the attractive tool for ocean development and investigation. For land robot, image processing is one of the most efficient data extraction methods. However, for underwater robots, image processing is not so often utilized because of darkness of underwater environment, unclearness of vision, and payload limitation for image processing devices. In this paper, we developed an automatic underwater video mosaic system. At first, we extract interest points from image obtained by underwater vehicle. Second, this system tracked extracted features over adjacent images. Finally, we calculate homography matrix to stitch images. We aim to develop a robust mosaicing system for dynamic environment such as swimming fish and bubbles.
一般社団法人日本機械学会の論文