ROV vision-based motion estimation: A comparison study (Contributo in atti di convegno)

Type

• Prodotto della ricerca (Classe)
• Contributo in atti di convegno (Classe)

Label

• ROV vision-based motion estimation: A comparison study (Contributo in atti di convegno) (literal)

Anno

• 2012-01-01T00:00:00+01:00 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi

• 10.3182/20120905-3-HR-2030.00105 (literal)

Alternative label

• Ferreira, Fausto; Veruggio, Gianmarco; Caccia, Massimo; Bruzzone, Gabriele (2012)
  ROV vision-based motion estimation: A comparison study
  in IFAC Symposium on Robot Control (SYROCO 2012), Dubrovnik, Croatia, September 2012
  (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori

• Ferreira, Fausto; Veruggio, Gianmarco; Caccia, Massimo; Bruzzone, Gabriele (literal)

Pagina inizio

• 96 (literal)

Pagina fine

• 101 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#url

• http://www.scopus.com/record/display.url?eid=2-s2.0-84880982731&origin=inward (literal)

Rivista

• IFAC proceedings volumes (Rivista)

Note

• Scopu (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni

• Consiglio Nazionale delle Ricerche (literal)

Titolo

• ROV vision-based motion estimation: A comparison study (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn

• 9783902823113 (literal)

Abstract

• Different vision-based techniques used to estimate the motion of an underwater Remotely Operated Vehicle (ROV) are compared in this work. The article analyzes several different approaches both at the feature detection level and at the feature description level. In what respects feature detection, a previously used template extractor is compared with interest point detectors as the Shi-Tomasi corner detector and the Oriented FAST and Rotated BRIEF (ORB) detector. For feature description the correspondent template patch, Speeded Up Robust Features (SURF), ORB and Binary Robust Independent Elementary Features (BRIEF) descriptors are tested. All these approaches are implemented on the same free open source library allowing a fair comparison, especially in terms of computational time. The tested approaches take into account previous studies and are compared with the same batch of data collected by the Romeo ROV performing a lawn mowing pattern at constant heading and in auto-altitude mode. In estimating vehicle speed, the Shi-Tomasi corner detector combined with BRIEF descriptors and the template extractor approaches presented the lowest noise levels. In terms of computational time, template correlation outperforms all other alternatives being at least more than 2 times faster. © 2012 IFAC. (literal)

Prodotto di

• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)
• Institute of intelligent systems for automation (ISSIA) (Istituto)

Autore CNR

• GIANMARCO VERUGGIO (Persona)
• FAUSTO MIGUEL PASCOAL FERREIRA (Unità di personale esterno)
• GABRIELE BRUZZONE (Unità di personale interno)
• MASSIMO CACCIA (Persona)

Insieme di parole chiave

• Keywords of "ROV vision-based motion estimation: A comparison study" (Insieme di parole chiave)

Incoming links:

Prodotto

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)

Autore CNR di

• GIANMARCO VERUGGIO (Persona)
• GABRIELE BRUZZONE (Unità di personale interno)
• MASSIMO CACCIA (Persona)
• FAUSTO MIGUEL PASCOAL FERREIRA (Unità di personale esterno)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#rivistaDi

• IFAC proceedings volumes (Rivista)

Insieme di parole chiave di

• Keywords of "ROV vision-based motion estimation: A comparison study" (Insieme di parole chiave)