The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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On the e?ects of Sampling Resolution in Improved Fourier Mellin based Registration for Underwater Mapping

Sören Schwertfeger
Jacobs University Bremen
Germany

Heiko Bülow
Jacobs University Bremen
Germany

Andreas Birk
Jacobs University Bremen
Germany

Abstract:
The properties of the fast and robust method for visual odometry based on the Fourier-Mellin Invariant (FMI) descriptor used by the Jacobs Robotics Group are analyzed here. The algorithm is particularly suited for Autonomous Underwater Vehicles (AUV), namely for the on-line generation of photo maps that can be the basis of intelligent on-board functionalities. The photo maps can be
generated just based on registration, i.e., without any information about the vehicle’s pose or its motion.
The algorithm makes heavy use of 2D Fourier transformations and its speed is thus depending on the resolution of the input-images and the size of the intermediate matrices used. Using the ground-truth
path of generated arti?cial input-video-streams the e?ects of di?erent resolutions and other parameters are compared and evaluated with respect to their speed.

 

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