A Robust Approach for Monocular Visual Odometry in Underwater Environments

Autores
Jordán, Mario Alberto; Trabes, Emanuel; Delrieux, Claudio Augusto
Año de publicación
2019
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
This work presents a visual odometric system for camera tracking in underwater scenarios of the seafloor which are strongly perturbed with sunlight caustics and cloudy water. Particularly, we focuse on the performance and robustnes of the system, which structurally associates a deflickering filter with a visual tracker. Two state-of-the-art trackers are employed for our study, one pixel-oriented and the other feature-based.The contrivances of the trackers were crumbled and their suitability for underwater environments analyzed comparatively. To this end real subaquatic footages in perturbed environments were employed.
Fil: Jordán, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Fil: Trabes, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Fil: Delrieux, Claudio Augusto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras; Argentina
XX Argentine Symposium on Artificial - JAIIO 48
Salta
Argentina
Universidad Nacional de Salta
Materia
VISUAL ODOMETRIC SYSTEM
DEFLICKERING FILTER
VISUAL TRACKER
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/161372
Acceder
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network_name_str CONICET Digital (CONICET)
spelling A Robust Approach for Monocular Visual Odometry in Underwater EnvironmentsJordán, Mario AlbertoTrabes, EmanuelDelrieux, Claudio AugustoVISUAL ODOMETRIC SYSTEMDEFLICKERING FILTERVISUAL TRACKERhttps://purl.org/becyt/ford/1.2https://purl.org/becyt/ford/1This work presents a visual odometric system for camera tracking in underwater scenarios of the seafloor which are strongly perturbed with sunlight caustics and cloudy water. Particularly, we focuse on the performance and robustnes of the system, which structurally associates a deflickering filter with a visual tracker. Two state-of-the-art trackers are employed for our study, one pixel-oriented and the other feature-based.The contrivances of the trackers were crumbled and their suitability for underwater environments analyzed comparatively. To this end real subaquatic footages in perturbed environments were employed.Fil: Jordán, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; ArgentinaFil: Trabes, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; ArgentinaFil: Delrieux, Claudio Augusto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras; ArgentinaXX Argentine Symposium on Artificial - JAIIO 48SaltaArgentinaUniversidad Nacional de SaltaSociedad Argentina de Informática e Investigación Operativa2019info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObjectSimposioJournalhttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/161372A Robust Approach for Monocular Visual Odometry in Underwater Environments; XX Argentine Symposium on Artificial - JAIIO 48; Salta; Argentina; 2019; 151-1642451-7585CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://48jaiio.sadio.org.ar/simposios/ASAIEnginfo:eu-repo/semantics/altIdentifier/url/http://sedici.unlp.edu.ar/handle/10915/87940Nacionalinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2026-03-31T15:16:54Zoai:ri.conicet.gov.ar:11336/161372instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982026-03-31 15:16:55.166CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Robust Approach for Monocular Visual Odometry in Underwater Environments
title A Robust Approach for Monocular Visual Odometry in Underwater Environments
spellingShingle A Robust Approach for Monocular Visual Odometry in Underwater Environments
Jordán, Mario Alberto
VISUAL ODOMETRIC SYSTEM
DEFLICKERING FILTER
VISUAL TRACKER
title_short A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_full A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_fullStr A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_full_unstemmed A Robust Approach for Monocular Visual Odometry in Underwater Environments
title_sort A Robust Approach for Monocular Visual Odometry in Underwater Environments
dc.creator.none.fl_str_mv Jordán, Mario Alberto
Trabes, Emanuel
Delrieux, Claudio Augusto
author Jordán, Mario Alberto
author_facet Jordán, Mario Alberto
Trabes, Emanuel
Delrieux, Claudio Augusto
author_role author
author2 Trabes, Emanuel
Delrieux, Claudio Augusto
author2_role author
author
dc.subject.none.fl_str_mv VISUAL ODOMETRIC SYSTEM
DEFLICKERING FILTER
VISUAL TRACKER
topic VISUAL ODOMETRIC SYSTEM
DEFLICKERING FILTER
VISUAL TRACKER
purl_subject.fl_str_mv https://purl.org/becyt/ford/1.2
https://purl.org/becyt/ford/1
dc.description.none.fl_txt_mv This work presents a visual odometric system for camera tracking in underwater scenarios of the seafloor which are strongly perturbed with sunlight caustics and cloudy water. Particularly, we focuse on the performance and robustnes of the system, which structurally associates a deflickering filter with a visual tracker. Two state-of-the-art trackers are employed for our study, one pixel-oriented and the other feature-based.The contrivances of the trackers were crumbled and their suitability for underwater environments analyzed comparatively. To this end real subaquatic footages in perturbed environments were employed.
Fil: Jordán, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Fil: Trabes, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Fil: Delrieux, Claudio Augusto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras; Argentina
XX Argentine Symposium on Artificial - JAIIO 48
Salta
Argentina
Universidad Nacional de Salta
description This work presents a visual odometric system for camera tracking in underwater scenarios of the seafloor which are strongly perturbed with sunlight caustics and cloudy water. Particularly, we focuse on the performance and robustnes of the system, which structurally associates a deflickering filter with a visual tracker. Two state-of-the-art trackers are employed for our study, one pixel-oriented and the other feature-based.The contrivances of the trackers were crumbled and their suitability for underwater environments analyzed comparatively. To this end real subaquatic footages in perturbed environments were employed.
publishDate 2019
dc.date.none.fl_str_mv 2019
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
Simposio
Journal
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
status_str publishedVersion
format conferenceObject
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/161372
A Robust Approach for Monocular Visual Odometry in Underwater Environments; XX Argentine Symposium on Artificial - JAIIO 48; Salta; Argentina; 2019; 151-164
2451-7585
CONICET Digital
CONICET
url http://hdl.handle.net/11336/161372
identifier_str_mv A Robust Approach for Monocular Visual Odometry in Underwater Environments; XX Argentine Symposium on Artificial - JAIIO 48; Salta; Argentina; 2019; 151-164
2451-7585
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://48jaiio.sadio.org.ar/simposios/ASAIEng
info:eu-repo/semantics/altIdentifier/url/http://sedici.unlp.edu.ar/handle/10915/87940
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.coverage.none.fl_str_mv Nacional
dc.publisher.none.fl_str_mv Sociedad Argentina de Informática e Investigación Operativa
publisher.none.fl_str_mv Sociedad Argentina de Informática e Investigación Operativa
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.720982

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