Inherent Ambiguities in Recovering 3-D Motion and Structure from a Noisy Flow Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
Motion recovery from image sequences using only first order optical flow information
International Journal of Computer Vision
Multiple view geometry in computer vision
Multiple view geometry in computer vision
In defence of the 8-point algorithm
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Augmented Scene Modeling and Visualization by Optical and Acoustic Sensor Integration
IEEE Transactions on Visualization and Computer Graphics
On Processing and Registration of Forward-Scan Acoustic Video Imagery
CRV '05 Proceedings of the 2nd Canadian conference on Computer and Robot Vision
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
Epipolar Geometry of Opti-Acoustic Stereo Imaging
IEEE Transactions on Pattern Analysis and Machine Intelligence
3-D Motion Estimation for Positioning from 2-D Acoustic Video Imagery
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Opti-acoustic stereo imaging: on system calibration and 3-D target reconstruction
IEEE Transactions on Image Processing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Underwater imaging with a moving acoustic lens
IEEE Transactions on Image Processing
Visual motion ambiguities of a plane in 2-D FS sonar motion sequences
Computer Vision and Image Understanding
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Object reconstruction and target-based positioning are among critical capabilities in deploying submersible platforms for a range of underwater applications, e.g., search and inspection missions. Optical cameras provide high-resolution and target details, but their utility becomes constrained by the visibility range. In comparison, high-frequency (MHz) 2-D sonar imaging systems introduced to the commercial market in recent years can image targets at distances of tens of meters in highly turbid waters. Where fair visibility permits optical imaging at reasonable quality, the integration with 2-D sonar data can enable better performance compared to deploying either system alone, and thus enabling automated operation in a wider range of conditions. We investigate the estimation of 3-D motion by exploiting the visual cues in optical and sonar video for vision-based navigation and 3-D positioning of submersible platforms. The application of structure from motion paradigm in this multi-modal imaging scenario also enables the 3-D reconstruction of scene features. Our method does not require establishing multi-modal association between corresponding optical and sonar features, but rather the tracking of features in the sonar and optical motion sequences independently. In addition to improving the motion estimation accuracy, another advantage of the proposed method includes overcoming the inherent ambiguities of monocular vision, e.g., the scale-factor ambiguity and dual interpretation of motion relative to planar scenes. We discuss how our solution can also provide an effective strategy to address the complex opti-acoustic stereo matching problem. Experiment with synthetic and real data demonstrate the advantages of our technical contribution.