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dc.contributor.authorBeall, Chris
dc.contributor.authorLawrence, Brian J.
dc.contributor.authorIla, Viorela
dc.contributor.authorDellaert, Frank
dc.date.accessioned2011-03-29T18:28:30Z
dc.date.available2011-03-29T18:28:30Z
dc.date.issued2010
dc.identifier.citationBeall, C., Lawrence, B.J., Ila, V., & Dellaert, F. (2010). "3D Reconstruction of Underwater Structures". Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 18-22 October 2010, 4418-4423en_US
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/1853/38324
dc.description©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 18-22 October 2010, Taipei, Taiwan.
dc.descriptionDOI: 10.1109/IROS.2010.5649213
dc.description.abstractEnvironmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs are exposed to various sources of hazards and potential destruction, and need close observation. Computer vision offers promising technologies to build 3D models of an environment from two dimensional images. The state of the art techniques have enabled high-quality digital reconstruction of large-scale structures, e.g., buildings and urban environments, but only sparse representations or dense reconstruction of small objects have been obtained from underwater video and still imagery. The application of standard 3D reconstruction methods to challenging underwater environments typically produces unsatisfactory results. Accurate, full camera trajectories are needed to serve as the basis for dense 3D reconstruction. A highly accurate sparse 3D reconstruction is the ideal foundation on which to base subsequent dense reconstruction algorithms. In our application the models are constructed from synchronized high definition videos collected using a wide baseline stereo rig. The rig can be hand-held, attached to a boat, or even to an autonomous underwater vehicle. We solve this problem by employing a smoothing and mapping toolkit developed in our lab specifically for this type of application. The result of our technique is a highly accurate sparse 3D reconstruction of underwater structures such as corals.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectComputer visionen_US
dc.subjectImagesen_US
dc.subjectSimultaneous localization and mappingen_US
dc.subjectStructure from motionen_US
dc.subject3D reconstructionen_US
dc.subjectUnderwater ecosystemsen_US
dc.title3D Reconstruction of Underwater Structuresen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computing
dc.contributor.corporatenameInstitut de Robòtica i Informàtica Industrial
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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