Estimation of Underwater Vehicle Motion Using a CCD Video Camera

摘要

The problem addressed in this report has been to investigate the feasibility ofusing a CCD camera to measure the motion of an underwater vehicle. A review of existing methods for the computation of camera-motion is presented. A reliable matching-based method is depicted in detail. This method was implemented and used in the experiments. Extensive analyses have been performed to test the algorithm's ability of computing visual motion with a satisfactory degree of reliability. The experiments have been performed by applying both synthetic image sequences, highly controlled real sequences and real underwater sequences.