Real-time estimation of dominant motion in underwater video images for dynamic positionning

F. Spindler 1 Patrick Bouthemy 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : In this paper, we propose a 2D visual motion estimation method which can be exploited to achieve a dynamic positioning (eg. by gaze control) with respect to a sea-bottom area of interest of a video camera mounted on a subsea vehicle. It mainly involves a dominant 2D motion robust estimation step from underwater video sequences. Optimizations carried out on the motion estimation code have made possible the use of our algorithm in ``application-related real-time'' for scientific exploration or inspection tasks. We have developed a friendly and efficient interface to perform this algorithm in an operational context. Experiments dealing with complex real underwater scenes are reported and validate the approach.
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Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'98, 1998, Leuven, Belgium. 2, pp.1063-1068, 1998
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F. Spindler, Patrick Bouthemy. Real-time estimation of dominant motion in underwater video images for dynamic positionning. IEEE Int. Conf. on Robotics and Automation, ICRA'98, 1998, Leuven, Belgium. 2, pp.1063-1068, 1998. 〈inria-00352561〉

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