A Robust Approach for Monocular Visual Odometry in Underwater Environments

Autores
Jordán, Mario A.; Trabes, Emanuel; Delrieux, Claudio
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.
Sociedad Argentina de Informática e Investigación Operativa
Materia
Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/3.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/87940
Acceder
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network_name_str SEDICI (UNLP)
spelling A Robust Approach for Monocular Visual Odometry in Underwater EnvironmentsJordán, Mario A.Trabes, EmanuelDelrieux, ClaudioCiencias InformáticasVisual odometric systemDeflickering filterVisual trackerThis 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.Sociedad Argentina de Informática e Investigación Operativa2019-09info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdf151-164http://sedici.unlp.edu.ar/handle/10915/87940enginfo:eu-repo/semantics/altIdentifier/issn/2451-7585info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/3.0/Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2026-03-31T12:06:28Zoai:sedici.unlp.edu.ar:10915/87940Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292026-03-31 12:06:28.821SEDICI (UNLP) - Universidad Nacional de La Platafalse
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 A.
Ciencias Informáticas
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 A.
Trabes, Emanuel
Delrieux, Claudio
author Jordán, Mario A.
author_facet Jordán, Mario A.
Trabes, Emanuel
Delrieux, Claudio
author_role author
author2 Trabes, Emanuel
Delrieux, Claudio
author2_role author
author
dc.subject.none.fl_str_mv Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
topic Ciencias Informáticas
Visual odometric system
Deflickering filter
Visual tracker
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.
Sociedad Argentina de Informática e Investigación Operativa
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 2019-09
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/87940
url http://sedici.unlp.edu.ar/handle/10915/87940
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/issn/2451-7585
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/3.0/
Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/3.0/
Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0)
dc.format.none.fl_str_mv application/pdf
151-164
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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