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Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset
Monocular cameras and multibeam imaging sonars are common sensors of Unmanned Underwater Vehicles (UUV). In this paper, we propose a new method for calibrating a hybrid sonar–vision system. This method is based on motion comparisons between both images and allows us to compute the transformation mat...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9921679/ https://www.ncbi.nlm.nih.gov/pubmed/36772739 http://dx.doi.org/10.3390/s23031700 |
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author | Pecheux, Nicolas Creuze, Vincent Comby, Frédéric Tempier, Olivier |
author_facet | Pecheux, Nicolas Creuze, Vincent Comby, Frédéric Tempier, Olivier |
author_sort | Pecheux, Nicolas |
collection | PubMed |
description | Monocular cameras and multibeam imaging sonars are common sensors of Unmanned Underwater Vehicles (UUV). In this paper, we propose a new method for calibrating a hybrid sonar–vision system. This method is based on motion comparisons between both images and allows us to compute the transformation matrix between the camera and the sonar and to estimate the camera’s focal length. The main advantage of our method lies in performing the calibration without any specific calibration pattern, while most other existing methods use physical targets. In this paper, we also propose a new sonar–vision dataset and use it to prove the validity of our calibration method. |
format | Online Article Text |
id | pubmed-9921679 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-99216792023-02-12 Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset Pecheux, Nicolas Creuze, Vincent Comby, Frédéric Tempier, Olivier Sensors (Basel) Article Monocular cameras and multibeam imaging sonars are common sensors of Unmanned Underwater Vehicles (UUV). In this paper, we propose a new method for calibrating a hybrid sonar–vision system. This method is based on motion comparisons between both images and allows us to compute the transformation matrix between the camera and the sonar and to estimate the camera’s focal length. The main advantage of our method lies in performing the calibration without any specific calibration pattern, while most other existing methods use physical targets. In this paper, we also propose a new sonar–vision dataset and use it to prove the validity of our calibration method. MDPI 2023-02-03 /pmc/articles/PMC9921679/ /pubmed/36772739 http://dx.doi.org/10.3390/s23031700 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Pecheux, Nicolas Creuze, Vincent Comby, Frédéric Tempier, Olivier Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset |
title | Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset |
title_full | Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset |
title_fullStr | Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset |
title_full_unstemmed | Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset |
title_short | Self Calibration of a Sonar–Vision System for Underwater Vehicles: A New Method and a Dataset |
title_sort | self calibration of a sonar–vision system for underwater vehicles: a new method and a dataset |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9921679/ https://www.ncbi.nlm.nih.gov/pubmed/36772739 http://dx.doi.org/10.3390/s23031700 |
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