Abstract

One of the crucial steps in image mosaicing is global alignment, which requires finding the best image registration parameters by employing nonlinear minimization methods over correspondences between overlapping image pairs for a dataset. Based on graph theory, we propose a simple but efficient method to reduce the number of overlapping image pairs without any noticeable effect on the final mosaic quality. This reduction significantly lowers the computational cost of the image mosaicing process. The proposed method can be applied in a topology estimation process to reduce the number of image matching attempts. The method has been validated through experiments on challenging underwater image sequences obtained during sea trials with different unmanned underwater vehicles.

© 2014 Optical Society of America

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2012 (2)

F. Ferreira, G. Veruggio, M. Caccia, and G. Bruzzone, “Real-time optical SLAM-based mosaicking for unmanned underwater vehicles,” Intel. Serv. Robotics 5, 55–71 (2012).

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and A. Mallios, “Girona 500 AUV: from survey to intervention,” IEEE/ASME Trans. Mechatron. 17, 46–53 (2012).

2010 (2)

V. Ila, J. M. Porta, and J. Andrade-Cetto, “Information-based compact pose SLAM,” IEEE Trans. Robot. 26, 78–93 (2010).

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

2008 (1)

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

2007 (4)

K. Jerosch, A. Lüdtke, M. Schlter, and G. Ioannidis, “Automatic content-based analysis of georeferenced image data: detection of beggiatoa mats in seafloor video mosaics from the Hakon Mosby mud volcano,” Comput. Geosci. 33, 202–218 (2007).
[CrossRef]

A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
[CrossRef]

O. Mason and M. Verwoerd, “Graph theory and networks in biology,” IET Syst. Biol. 1, 89–119 (2007).

2006 (1)

R. Szeliski, “Image alignment and stitching: a tutorial,” Found. Trends Comput. Graph. Vis. 2, 1–104 (2006).

2005 (1)

Z. Zhu, E. Riseman, A. Hanson, and H. Schultz, “An efficient method for geo-referenced video mosaicing for environmental monitoring,” Machine Vis. Appl. 16, 203–216 (2005).
[CrossRef]

2004 (2)

D. Lowe, “Distinctive image features from scale-invariant keypoints,” Int. J. Comput. Vis. 60, 91–110 (2004).
[CrossRef]

A. Fusiello and V. Murino, “Augmented scene modeling and visualization by optical and acoustic sensor integration,” IEEE Trans. Vis. Comput. Graph. 10, 625–636 (2004).

2003 (2)

N. Gracias, S. Zwaan, A. Bernardino, and J. Santos-Victor, “Mosaic based navigation for autonomous underwater vehicles,” IEEE J. Ocean. Eng. 28, 609–624 (2003).

D. Gledhill, G. Tian, D. Taylor, and D. Clarke, “Panoramic imaging: a review,” Comput. Graph. 27, 435–445 (2003).
[CrossRef]

2002 (1)

Z. Wang and A. Bovik, “A universal image quality index,” IEEE Signal Process. Lett. 9, 81–84 (2002).
[CrossRef]

2001 (1)

J. Jaffe, K. Moore, J. McLean, and M. Strand, “Underwater optical imaging: status and prospects,” Oceanography 14, 64–75 (2001).

2000 (1)

1997 (1)

1996 (1)

B. Cherkassky, A. Goldberg, and T. Radzik, “Shortest paths algorithms: theory and experimental evaluation,” Math. Program. 73, 129–174 (1996).

1987 (1)

M. Fredman and R. Tarjan, “Fibonacci heaps and their uses in improved network optimization algorithms,” J. ACM 34, 596–615 (1987).
[CrossRef]

1981 (1)

M. A. Fischler and R. C. Bolles, “Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography,” Commun. ACM 24, 381–395 (1981).
[CrossRef]

Andrade-Cetto, J.

V. Ila, J. M. Porta, and J. Andrade-Cetto, “Information-based compact pose SLAM,” IEEE Trans. Robot. 26, 78–93 (2010).

Ashan, N.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

Balaban, A.

A. Balaban, Chemical Applications of Graph Theory (Academic, 1976).

Bender, A.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

Bernardino, A.

N. Gracias, S. Zwaan, A. Bernardino, and J. Santos-Victor, “Mosaic based navigation for autonomous underwater vehicles,” IEEE J. Ocean. Eng. 28, 609–624 (2003).

Bewley, M.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

Bingham, B.

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

Birk, A.

H. Bulow and A. Birk, “Fast and robust photomapping with an unmanned aerial vehicle UAV,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (2009), pp. 3368–3373.

Bolles, R. C.

M. A. Fischler and R. C. Bolles, “Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography,” Commun. ACM 24, 381–395 (1981).
[CrossRef]

Bongiorno, D.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

Bovik, A.

Z. Wang and A. Bovik, “A universal image quality index,” IEEE Signal Process. Lett. 9, 81–84 (2002).
[CrossRef]

Boynton, G.

A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

Bruzzone, G.

F. Ferreira, G. Veruggio, M. Caccia, and G. Bruzzone, “Real-time optical SLAM-based mosaicking for unmanned underwater vehicles,” Intel. Serv. Robotics 5, 55–71 (2012).

Bryson, M.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

M. Bryson, M. Johnson-Roberson, O. Pizarro, and S. Williams, “Automated registration for multi-year robotic surveys of marine benthic habitats,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan (2013).

Bulow, H.

H. Bulow and A. Birk, “Fast and robust photomapping with an unmanned aerial vehicle UAV,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (2009), pp. 3368–3373.

Caccia, M.

F. Ferreira, G. Veruggio, M. Caccia, and G. Bruzzone, “Real-time optical SLAM-based mosaicking for unmanned underwater vehicles,” Intel. Serv. Robotics 5, 55–71 (2012).

Camilli, R.

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

Carreras, M.

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and A. Mallios, “Girona 500 AUV: from survey to intervention,” IEEE/ASME Trans. Mechatron. 17, 46–53 (2012).

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and E. Hernandez, “Ictineu AUV wins the first SAUC-E competition,” in IEEE International Conference on Robotics and Automation, Rome, Italy (2007).

Cervantes, A.

A. Cervantes and E. Y. Kang, “Progressive multi-image registration based on feature tracking,” in International Conference on Image Processing, Computer Vision, & Pattern Recognition, Las Vegas (2006), Vol. 2, pp. 633–639.

Cherkassky, B.

B. Cherkassky, A. Goldberg, and T. Radzik, “Shortest paths algorithms: theory and experimental evaluation,” Math. Program. 73, 129–174 (1996).

Clarke, D.

D. Gledhill, G. Tian, D. Taylor, and D. Clarke, “Panoramic imaging: a review,” Comput. Graph. 27, 435–445 (2003).
[CrossRef]

Costeira, J. P.

N. Gracias, J. P. Costeira, and J. S. Victor, “Linear global mosaics for underwater surveying,” in 5th IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal (2004), Vol. I.

Cufi, X.

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

Dansereau, D.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

Delaporta, K.

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

Delaunoy, O.

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

J. Ferrer, A. Elibol, O. Delaunoy, N. Gracias, and R. Garcia, “Large-area photo-mosaics using global alignment and navigation data,” in MTS/IEEE OCEANS Conference, Vancouver, Canada (2007), pp. 1–9.

O. Delaunoy, N. Gracias, and R. Garcia, “Towards detecting changes in underwater image sequences,” in OCEANS 2008-MTS/IEEE Techno-Ocean, Kobe, Japan (2008), pp. 1–8.

Deo, N.

N. Deo, Graph Theory with Applications to Engineering and Computer Science (PHI Learning, 2004).

Douillard, B.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

Elibol, A.

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

J. Ferrer, A. Elibol, O. Delaunoy, N. Gracias, and R. Garcia, “Large-area photo-mosaics using global alignment and navigation data,” in MTS/IEEE OCEANS Conference, Vancouver, Canada (2007), pp. 1–9.

A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman, and P. R. Reid, “Efficient autonomous image mosaicing with applications to coral reef monitoring,” in IROS 2011 Workshop on Robotics for Environmental Monitoring, San Francisco, CA (2011).

Escartin, J.

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

R. Prados, R. Garcia, J. Escartin, and L. Neumann, “Challenges of close-range underwater optical mapping,” in MTS/IEEE OCEANS Conference (2011), pp. 1–10.

Eustice, R.

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

Fadaeieslam, M.

M. Fadaeieslam, M. Fathy, and M. Soryani, “Key frames selection into panoramic mosaics,” in 7th International Conference on Information, Communications and Signal Processing (ICICS) (2009), pp. 1–5.

Fathy, M.

M. Fadaeieslam, M. Fathy, and M. Soryani, “Key frames selection into panoramic mosaics,” in 7th International Conference on Information, Communications and Signal Processing (ICICS) (2009), pp. 1–5.

Ferreira, F.

F. Ferreira, G. Veruggio, M. Caccia, and G. Bruzzone, “Real-time optical SLAM-based mosaicking for unmanned underwater vehicles,” Intel. Serv. Robotics 5, 55–71 (2012).

Ferrer, J.

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

J. Ferrer, A. Elibol, O. Delaunoy, N. Gracias, and R. Garcia, “Large-area photo-mosaics using global alignment and navigation data,” in MTS/IEEE OCEANS Conference, Vancouver, Canada (2007), pp. 1–9.

Fischler, M. A.

M. A. Fischler and R. C. Bolles, “Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography,” Commun. ACM 24, 381–395 (1981).
[CrossRef]

Fitzgibbon, A.

B. Triggs, P. McLauchlan, R. Hartley, and A. Fitzgibbon, “Bundle adjustment: a modern synthesis,” in Vision Algorithms: Theory and Practice, B. Triggs, A. Zisserman, and R. Szeliski, eds. (Springer-Verlag, 2000), pp. 298–372.

Foley, B.

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

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A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman, and P. R. Reid, “Efficient autonomous image mosaicing with applications to coral reef monitoring,” in IROS 2011 Workshop on Robotics for Environmental Monitoring, San Francisco, CA (2011).

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R. Prados, R. Garcia, J. Escartin, and L. Neumann, “Challenges of close-range underwater optical mapping,” in MTS/IEEE OCEANS Conference (2011), pp. 1–10.

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D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
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A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman, and P. R. Reid, “Efficient autonomous image mosaicing with applications to coral reef monitoring,” in IROS 2011 Workshop on Robotics for Environmental Monitoring, San Francisco, CA (2011).

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D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
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A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman, and P. R. Reid, “Efficient autonomous image mosaicing with applications to coral reef monitoring,” in IROS 2011 Workshop on Robotics for Environmental Monitoring, San Francisco, CA (2011).

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J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
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N. Gracias, S. Zwaan, A. Bernardino, and J. Santos-Victor, “Mosaic based navigation for autonomous underwater vehicles,” IEEE J. Ocean. Eng. 28, 609–624 (2003).

O. Delaunoy, N. Gracias, and R. Garcia, “Towards detecting changes in underwater image sequences,” in OCEANS 2008-MTS/IEEE Techno-Ocean, Kobe, Japan (2008), pp. 1–8.

A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman, and P. R. Reid, “Efficient autonomous image mosaicing with applications to coral reef monitoring,” in IROS 2011 Workshop on Robotics for Environmental Monitoring, San Francisco, CA (2011).

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N. Gracias and S. Negahdaripour, “Underwater mosaic creation using video sequences from different altitudes,” in MTS/IEEE OCEANS Conference, Washington, DC (2005), pp. 1234–1239.

J. Ferrer, A. Elibol, O. Delaunoy, N. Gracias, and R. Garcia, “Large-area photo-mosaics using global alignment and navigation data,” in MTS/IEEE OCEANS Conference, Vancouver, Canada (2007), pp. 1–9.

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H. Sawhney, S. Hsu, and R. Kumar, “Robust video mosaicing through topology inference and local to global alignment,” in European Conference on Computer Vision, Freiburg, Germany (1998), Vol. II, pp. 103–119.

Humpris, S. E.

J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

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V. Ila, J. M. Porta, and J. Andrade-Cetto, “Information-based compact pose SLAM,” IEEE Trans. Robot. 26, 78–93 (2010).

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K. Jerosch, A. Lüdtke, M. Schlter, and G. Ioannidis, “Automatic content-based analysis of georeferenced image data: detection of beggiatoa mats in seafloor video mosaics from the Hakon Mosby mud volcano,” Comput. Geosci. 33, 202–218 (2007).
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K. Jerosch, A. Lüdtke, M. Schlter, and G. Ioannidis, “Automatic content-based analysis of georeferenced image data: detection of beggiatoa mats in seafloor video mosaics from the Hakon Mosby mud volcano,” Comput. Geosci. 33, 202–218 (2007).
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O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

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A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
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D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
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A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

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O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

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D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and A. Mallios, “Girona 500 AUV: from survey to intervention,” IEEE/ASME Trans. Mechatron. 17, 46–53 (2012).

B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

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J. Jaffe, K. Moore, J. McLean, and M. Strand, “Underwater optical imaging: status and prospects,” Oceanography 14, 64–75 (2001).

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A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

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B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

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J. Jaffe, K. Moore, J. McLean, and M. Strand, “Underwater optical imaging: status and prospects,” Oceanography 14, 64–75 (2001).

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A. Fusiello and V. Murino, “Augmented scene modeling and visualization by optical and acoustic sensor integration,” IEEE Trans. Vis. Comput. Graph. 10, 625–636 (2004).

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D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
[CrossRef]

A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

N. Gracias and S. Negahdaripour, “Underwater mosaic creation using video sequences from different altitudes,” in MTS/IEEE OCEANS Conference, Washington, DC (2005), pp. 1234–1239.

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J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

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O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

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D. Steedly, C. Pal, and R. Szeliski, “Efficiently registering video into panoramic mosaics,” in Tenth IEEE International Conference on Computer Vision (ICCV) (2005), Vol. 2, pp. 1300–1307.

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D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and A. Mallios, “Girona 500 AUV: from survey to intervention,” IEEE/ASME Trans. Mechatron. 17, 46–53 (2012).

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and E. Hernandez, “Ictineu AUV wins the first SAUC-E competition,” in IEEE International Conference on Robotics and Automation, Rome, Italy (2007).

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Pizarro, O.

O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

M. Bryson, M. Johnson-Roberson, O. Pizarro, and S. Williams, “Automated registration for multi-year robotic surveys of marine benthic habitats,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan (2013).

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V. Ila, J. M. Porta, and J. Andrade-Cetto, “Information-based compact pose SLAM,” IEEE Trans. Robot. 26, 78–93 (2010).

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R. Prados, R. Garcia, J. Escartin, and L. Neumann, “Challenges of close-range underwater optical mapping,” in MTS/IEEE OCEANS Conference (2011), pp. 1–10.

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B. Cherkassky, A. Goldberg, and T. Radzik, “Shortest paths algorithms: theory and experimental evaluation,” Math. Program. 73, 129–174 (1996).

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A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman, and P. R. Reid, “Efficient autonomous image mosaicing with applications to coral reef monitoring,” in IROS 2011 Workshop on Robotics for Environmental Monitoring, San Francisco, CA (2011).

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A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R. Reid, G. Boynton, S. Negahdaripour, M. Miller, and P. Kramer, “Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology,” Marine Ecol. 28, 254–258 (2007).

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D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour, and P. Kramer, “Development and application of a video-mosaic survey technology to document the status of coral reef communities,” Environ. Monit. Assess. 125, 59–73 (2007).
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J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufi, L. Neumann, D. J. Fornari, S. E. Humpris, and J. Renard, “Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 3718.5’N): release of georeferenced data, mosaic construction, and viewing software,” Geochem. Geophys. Geosyst. 9, Q12009 (2008).

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D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and A. Mallios, “Girona 500 AUV: from survey to intervention,” IEEE/ASME Trans. Mechatron. 17, 46–53 (2012).

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and E. Hernandez, “Ictineu AUV wins the first SAUC-E competition,” in IEEE International Conference on Robotics and Automation, Rome, Italy (2007).

Ridao, P.

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and A. Mallios, “Girona 500 AUV: from survey to intervention,” IEEE/ASME Trans. Mechatron. 17, 46–53 (2012).

D. Ribas, N. Palomeras, P. Ridao, M. Carreras, and E. Hernandez, “Ictineu AUV wins the first SAUC-E competition,” in IEEE International Conference on Robotics and Automation, Rome, Italy (2007).

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B. Bingham, B. Foley, H. Singh, R. Camilli, K. Delaporta, R. Eustice, A. Mallios, D. Mindell, C. Roman, and D. Sakellariou, “Robotic tools for deep water archaeology: surveying an ancient shipwreck with an autonomous underwater vehicle,” J. Field Robot. 27, 702–717 (2010).

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N. Gracias, S. Zwaan, A. Bernardino, and J. Santos-Victor, “Mosaic based navigation for autonomous underwater vehicles,” IEEE J. Ocean. Eng. 28, 609–624 (2003).

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H. Sawhney, S. Hsu, and R. Kumar, “Robust video mosaicing through topology inference and local to global alignment,” in European Conference on Computer Vision, Freiburg, Germany (1998), Vol. II, pp. 103–119.

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K. Jerosch, A. Lüdtke, M. Schlter, and G. Ioannidis, “Automatic content-based analysis of georeferenced image data: detection of beggiatoa mats in seafloor video mosaics from the Hakon Mosby mud volcano,” Comput. Geosci. 33, 202–218 (2007).
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D. Steedly, C. Pal, and R. Szeliski, “Efficiently registering video into panoramic mosaics,” in Tenth IEEE International Conference on Computer Vision (ICCV) (2005), Vol. 2, pp. 1300–1307.

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O. Pizarro, S. B. Williams, M. V. Jakuba, M. Johnson-Roberson, I. Mahon, M. Bryson, D. Steinberg, A. Friedman, D. Dansereau, N. Nourani-Vatani, D. Bongiorno, M. Bewley, A. Bender, N. Ashan, and B. Douillard, “Benthic monitoring with robotic platforms—the experience of Australia,” in IEEE International Underwater Technology Symposium (UT)(2013), pp. 1–10.

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Strand, M.

J. Jaffe, K. Moore, J. McLean, and M. Strand, “Underwater optical imaging: status and prospects,” Oceanography 14, 64–75 (2001).

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R. Szeliski, “Image alignment and stitching: a tutorial,” Found. Trends Comput. Graph. Vis. 2, 1–104 (2006).

D. Steedly, C. Pal, and R. Szeliski, “Efficiently registering video into panoramic mosaics,” in Tenth IEEE International Conference on Computer Vision (ICCV) (2005), Vol. 2, pp. 1300–1307.

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M. Fredman and R. Tarjan, “Fibonacci heaps and their uses in improved network optimization algorithms,” J. ACM 34, 596–615 (1987).
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Figures (6)

Fig. 1.
Fig. 1.

Basic steps of topology estimation process [15].

Fig. 2.
Fig. 2.

Example of discarded image.

Fig. 3.
Fig. 3.

Sample images from the datasets used in the experiments.

Fig. 4.
Fig. 4.

Mosaics of dataset 4 rendered with last-on-top strategy. (a) Resulting mosaic with all-against-all strategy. (b) Resulting mosaic with reduction. (c) Pixel-wise difference between mosaics.

Fig. 5.
Fig. 5.

Overlapping image pairs and final trajectory of the first dataset.

Fig. 6.
Fig. 6.

Mosaics of the second dataset rendered with first-on-top strategy. (a) Resulting mosaic of the topology estimation framework. (b) Resulting mosaic of the topology estimation framework with reduction. (c) Difference between two mosaics.

Tables (4)

Tables Icon

Table 1. Summary of the Obtained Results with and without Proposed Reduction Algorithm

Tables Icon

Table 2. Comparison of Visual Quality Using UQI with Respect to Mosaics Obtained with All-Against-All Strategy

Tables Icon

Table 3. Summary of Results Obtained Using Proposed Method during the Topology Estimation Process

Tables Icon

Table 4. Visual Quality Comparison Using UQI with Respect to Mosaics Obtained with the All-Against-All Strategy

Equations (6)

Equations on this page are rendered with MathJax. Learn more.

min=min(a,b)E(h(a,b)),max=max(a,b)E(h(a,b)),μ=1m(a,b)Eh(a,b),σ=(1m(a,b)E(h(a,b)μ)2)1/2.
t(α)=μασ,
r=|A|m(n1),
ε=1sktj=1nxjkHk11Ht1xjt2+xjtHt11Hk1xjk2,
R=[r1=p1tHp1k2rn=pntHpnk2](residuesvector)ϵ=inri,
H=[scos(θ)ssin(θ)txssin(θ)scos(θ)ty001]

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