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Image registration for the underwater inspection using the maximum a posteriori technique

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4 Author(s)
Jenhwa Guo ; Dept. of Naval Archit. & Ocean Eng., Nat. Taiwan Univ., Taipei, Taiwan ; Sheng-Wen Cheng ; Cheng-Yang Ying ; Te-Chih Liu

Describes an image registration method for underwater inspection tasks. A remotely operated vehicle equipped with a video camera and a scanning sonar is used as the testbed vehicle. Each image of the underwater scene is saved along with the video camera's position and orientation. The images are then combined to create a large composite picture of the underwater structure being inspected. This method is based upon a maximum a posteriori estimation technique and provides smooth and robust estimates of image shifts. Our results demonstrate the feasibility of this highly promising underwater inspection procedure.

Published in:

IEEE Journal of Oceanic Engineering  (Volume:28 ,  Issue: 1 )