The Impact of Convergence Cameras in a Stereoscopic System for AUVs

dc.contributor.author Aguiar,J en
dc.contributor.author Andry Maykol Pinto en
dc.contributor.author Nuno Cruz en
dc.contributor.author Aníbal Matos en
dc.date.accessioned 2018-01-10T10:20:16Z
dc.date.available 2018-01-10T10:20:16Z
dc.date.issued 2016 en
dc.description.abstract Underwater imaging is being increasingly helpful for the autonomous robots to reconstruct and map the marine environments which is fundamental for searching for pipelines or wreckages in depth waters. In this context, the accuracy of the information obtained from the environment is of extremely importance. This work presents a study about the accuracy of a reconfigurable stereo vision system while determining a dense disparity estimation for underwater imaging. The idea is to explore the advantage of this kind of system for underwater autonomous vehicles (AUV) since varying parameters like the baseline and the pose of the cameras make possible to extract accurate 3D information at different distances between the AUV and the scene. Therefore, the impact of these parameters is analyzed using a metric error of the point cloud acquired by a stereoscopic system. Furthermore, results obtained directly from an underwater environment proved that a reconfigurable stereo system can have some advantages for autonomous vehicles since, in some trials, the error was reduced by 0.05m for distances between 1.125 and 2.675 m. en
dc.identifier.uri http://repositorio.inesctec.pt/handle/123456789/5838
dc.identifier.uri http://dx.doi.org/10.1007/978-3-319-41501-7_58 en
dc.language eng en
dc.relation 5446 en
dc.relation 5155 en
dc.relation 5158 en
dc.rights info:eu-repo/semantics/openAccess en
dc.title The Impact of Convergence Cameras in a Stereoscopic System for AUVs en
dc.type conferenceObject en
dc.type Publication en
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