This paper presents a set of algorithms for the creation of underwater mosaics and illustrates their use as visual maps For underwater vehicle navigation. First, we describe the automatic creation of video mosaics, which deals with the problem of image motion estimation in a robust and automatic way. The motion estimation is based on a initial matching of corresponding areas over pairs of images, followed by the use of a robust matching technique, which can cope with a high percentage of incorrect matches. Several motion models, established under the projective geometry framework, allow for the creation of high quality mosaics where no assumptions are made about the camera motion. Several tests were run on underwater image sequences, testifying to the good performance of the implemented matching and registration methods. Next, we deal with the issue of determining the 3D position and orientation of a vehicle from new views of a previously created mosaic. The problem of pose estimation is tackled, using the available information on the camera intrinsic parameters. This information ranges from the full knowledge to the case where they are estimated using a self-calibration technique based on the analysis of an image sequence captured under pure rotation. The performance of the 3D positioning algorithms is evaluated using images for which accurate ground truth is available. (C) 2000 Academic Press. References: 34
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