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Bi-objective bundle adjustment: towards large-scale visual sea-floor mapping with a minimal sensor suite

Warren, Michael, Corke, Peter, Pizarro, Oscar, William, Stefan, & Upcroft, Ben (2012) Bi-objective bundle adjustment: towards large-scale visual sea-floor mapping with a minimal sensor suite. In Smith, Ryan N. (Ed.) Workshop on Robotics for Environmental Monitoring, 11 July 2012, University of Sydney, NSW.

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    Abstract

    Visual sea-floor mapping is a rapidly growing application for Autonomous Underwater Vehicles (AUVs). AUVs are well-suited to the task as they remove humans from a potentially dangerous environment, can reach depths human divers cannot, and are capable of long-term operation in adverse conditions. The output of sea-floor maps generated by AUVs has a number of applications in scientific monitoring: from classifying coral in high biological value sites to surveying sea sponges to evaluate marine environment health.

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    ID Code: 53104
    Item Type: Conference Paper
    Keywords: Bundle Adjustment, Visual Odometry, Autonomous Underwater Vehicle, Environmental Monitoring, Pose Estimation
    Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
    Divisions: Current > Schools > School of Electrical Engineering & Computer Science
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Copyright Owner: Copyright 2012 [please consult the author]
    Deposited On: 16 Aug 2012 13:48
    Last Modified: 04 Feb 2013 13:12

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