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
Opti-acoustic stereo imaging: on system calibration and 3-D target reconstruction
IEEE Transactions on Image Processing
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Utilization of an acoustic camera for range measurements is a significant advantage for 3-D shape recovery of underwater targets by opti-acoustic stereo imaging, where the associated epipolar geometry of visual and acoustic image correspondences is described in terms of conic sections and trigonometric functions. In this paper, we propose and analyze a number of methods based on direct and indirect approaches that provide insight on the merits of the new imaging and 3-D object reconstruction paradigm. We have devised certain indirect methods, built on a regularization formulation, to first compute from noisy correspondences maximum likelihood estimates that satisfy the epipolar geometry. The 3-D target points can then be determined from a number of closed-form solutions applied to these ML estimates. An alternative direct approach is also presented for 3-D reocnstruction directly from noisy correspondences. Computer simulations verify consistency between the analytical and experimental reconstruction SNRs -- the criterion applied in performance assessment of these various solutions.