Laser & Optoelectronics Progress, Volume. 50, Issue 10, 101103(2013)
Position-Pose Estimationfor Underwater Circular Objects Based on Monocular Laser Imaging
Localization of underwater objects is essential for exploring the vast ocean resources. We present a monocular-vision-based method for estimating three-dimensional (3D) position-pose of underwater circular features. Using a single camera image, underwater circular features are extracted. After that, the image distortion caused by the underwater environment is compensated, and both the orientation and position of the underwater circular features are estimated. Laboratory experiments demonstrate that the method is capable of estimating the 3D position-pose of a cylindrical object in clean water with the accuracy of orientation and position estimation of 1.33% and 4.37%, respectively. The stability of the method is also analyzed by moving and relocating the cylinder.
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Lu Jing, Yang Kecheng, Xia Min, Li Wei. Position-Pose Estimationfor Underwater Circular Objects Based on Monocular Laser Imaging[J]. Laser & Optoelectronics Progress, 2013, 50(10): 101103
Category: Imaging Systems
Received: Jun. 3, 2013
Accepted: --
Published Online: Aug. 27, 2013
The Author Email: Jing Lu (lujing8102@126.com)