Speeded up Robust Features for Vision-Based Underwater Motion Estimation and SLAM: Comparison with Correlation-Based Techniques (Contributo in atti di convegno)

Type

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

Label

• Speeded up Robust Features for Vision-Based Underwater Motion Estimation and SLAM: Comparison with Correlation-Based Techniques (Contributo in atti di convegno) (literal)

Anno

• 2009-01-01T00:00:00+01:00 (literal)

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

• 10.3182/20090916-3-BR-3001.00043 (literal)

Alternative label

• Ferreira Fausto; Veruggio Gianmarco; Caccia Massimo; Bruzzone Gabriele (2009)
  Speeded up Robust Features for Vision-Based Underwater Motion Estimation and SLAM: Comparison with Correlation-Based Techniques
  in MCMC'09, 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, Guarujà, Brasil, 16-18 september 2009
  (literal)

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

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

Pagina inizio

• 273 (literal)

Pagina fine

• 278 (literal)

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

• Proceedings of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft (literal)

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

• Guarujá, Brazil Internazionale con Referee September 2009 (literal)

Note

• Scopu (literal)

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

• CNR-IEIIT, CNR-ISSIA (literal)

Titolo

• Speeded up Robust Features for Vision-Based Underwater Motion Estimation and SLAM: Comparison with Correlation-Based Techniques (literal)

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

• 978-3-902661-51-7 (literal)

Abstract

• This paper focuses on evaluating the possibility of using Speeded Up Feature Transform (SURF) features (Bay et al. (2006)) as optical features to be tracked in different applications, such as the speed estimation or the SLAM (or the more general dead reckoning) of an underwater Remotely Operated Vehicle (ROV). In particular, SURF-based system performance has been compared to results obtained with a laser-triangulation optical-correlation system using a batch of data collected in typical operat- ing conditions with the Romeo ROV. Although conven- tional techniques based on automatic extraction of high local variance templates and correlation-based tracking demonstrated their effectiveness in speed estimation, the combination with SURF-based techniques dramatically increases the reliability of the data association process for SLAM and mosaicing applications. (literal)

Prodotto di

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Bio-inspired Learning (INT.P02.002.002) (Modulo)
• Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni (IEIIT) (Istituto)
• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)

Autore CNR

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

Insieme di parole chiave

• Parole chiave di "Speeded up Robust Features for Vision-Based Underwater Motion Estimation and SLAM: Comparison with Correlation-Based Techniques" (Insieme di parole chiave)

Incoming links:

Prodotto

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni (IEIIT) (Istituto)
• Bio-inspired Learning (INT.P02.002.002) (Modulo)
• 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)

Insieme di parole chiave di

• Parole chiave di "Speeded up Robust Features for Vision-Based Underwater Motion Estimation and SLAM: Comparison with Correlation-Based Techniques" (Insieme di parole chiave)