ICRA 2011 Paper Abstract


Paper TuP114.4

Dansereau, Donald Gilbert (University of Sydney), Williams, Stefan Bernard (University of Sydney)

Seabed Modeling and Distractor Extraction for Mobile AUVs Using Light Field Filtering

Scheduled for presentation during the Regular Sessions "Visual Navigation III" (TuP114), Tuesday, May 10, 2011, 14:25−14:40, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Computer Vision for Robotics and Automation, Marine Robotics, Field Robots


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.



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