DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chung, Dongha | ko |
dc.contributor.author | Hong, Seonghun | ko |
dc.contributor.author | Kim, Jinwhan | ko |
dc.date.accessioned | 2018-02-21T05:22:53Z | - |
dc.date.available | 2018-02-21T05:22:53Z | - |
dc.date.created | 2017-12-10 | - |
dc.date.created | 2017-12-10 | - |
dc.date.issued | 2017-02-21 | - |
dc.identifier.citation | 2017 IEEE OES International Symposium on Underwater Technology, UT 2017 | - |
dc.identifier.issn | 2573-3788 | - |
dc.identifier.uri | http://hdl.handle.net/10203/240029 | - |
dc.description.abstract | For creating a precise visual map by autonomous ship-hull inspection using an unmanned underwater vehicle, it is a crucial capability for the vehicle (or camera) to maintain a pose relative to the hull surface. In this study, a relative pose estimation algorithm is introduced using a stereo vision system. The proposed approach utilizes 3D point cloud data that can be generated by a sparse feature matching technique between a pair of stereo images. The relative pose information can be obtained by applying a surface normal estimation algorithm for the 3D points. Experimental results using underwater images is shown to verify the practical feasibility of the proposed approach. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Underwater pose estimation relative to planar hull surface using stereo vision | - |
dc.type | Conference | - |
dc.identifier.wosid | 000403146800030 | - |
dc.identifier.scopusid | 2-s2.0-85018171195 | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | 2017 IEEE OES International Symposium on Underwater Technology, UT 2017 | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | Novotel Ambassador Busan | - |
dc.identifier.doi | 10.1109/UT.2017.7890301 | - |
dc.contributor.localauthor | Kim, Jinwhan | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.