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Real-time underwater stereofusion

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Show simple item record Rossi, Matija Trslić, Petar Sivčev, Satja Riordan, James Toal, Daniel Dooly, Gerard 2018-11-28T12:37:23Z 2018-11-28T12:37:23Z 2018
dc.description peer-reviewed en_US
dc.description.abstract Many current and future applications of underwater robotics require real-time sensing and interpretation of the environment. As the vast majority of robots are equipped with cameras, computer vision is playing an increasingly important role it this field. This paper presents the implementation and experimental results of underwater StereoFusion, an algorithm for real-time 3D dense reconstruction and camera tracking. Unlike KinectFusion on which it is based, StereoFusion relies on a stereo camera as its main sensor. The algorithm uses the depth map obtained from the stereo camera to incrementally build a volumetric 3D model of the environment, while simultaneously using the model for camera tracking. It has been successfully tested both in a lake and in the ocean, using two different state-of-the-art underwater Remotely Operated Vehicles (ROVs). Ongoing work focuses on applying the same algorithm to acoustic sensors, and on the implementation of a vision based monocular system with the same capabilities. en_US
dc.language.iso eng en_US
dc.publisher MDPI en_US
dc.relation SFI/12/RC/2302 en_US
dc.relation.ispartofseries Sensors;18, 3936
dc.subject stereo en_US
dc.subject underwater en_US
dc.subject ROV en_US
dc.subject GPU en_US
dc.subject real-time en_US
dc.subject 3D en_US
dc.subject fusion en_US
dc.subject camera en_US
dc.subject tracking en_US
dc.subject vision en_US
dc.title Real-time underwater stereofusion en_US
dc.type info:eu-repo/semantics/article en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.identifier.doi 10.3390/s18113936
dc.contributor.sponsor SFI en_US
dc.relation.projectid SFI/12/RC/2302 en_US
dc.relation.projectid SFI/14/SP/2740 en_US
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US

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