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Towards Dense Point Correspondence with PatchMatch in Low-Resolution Sonar Images
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Saab Dynam, Sonar Syst Design, Karlskoga, Sweden..ORCID iD: 0000-0002-0552-567x
Saab Dynam, Sonar Syst Design, Karlskoga, Sweden.;Lund Univ, Dept Elect & Informat Technol, Lund, Sweden..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-4266-6746
2022 (English)In: 2022 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES SYMPOSIUM (AUV), Institute of Electrical and Electronics Engineers (IEEE) , 2022Conference paper, Oral presentation only (Refereed)
Abstract [en]

Robust feature correspondences between 2D sonar imagery are important for perception tasks in the underwater domain such as 3D reconstruction but involve open challenges, in particular, low-resolution as well as the fact that object appearance is view-dependent. Although sonars in the MHz range would allow for higher resolution imagery, in this paper we focus on scenarios with a lower frequency kHz sensor, in which the longer visual range is gained at the sacrifice of image resolution. To this end, we first propose to solve the correspondence task using the PatchMatch algorithm for the first time in sonar imagery, and then propose a method for feature extraction based on IC. We then compare the proposed methods against conventional methods from computer vision. We evaluate our method on data from a lake experiment with objects captured with an FLS sensor. Our results show that the proposed combination of IC together with PatchMatch is well-suited for point feature extraction and correspondence in sonar imagery. Further, we also evaluate the different methods for point correspondence with a 3D object reconstruction task.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2022.
Series
IEEE OES Autonomous Underwater Vehicles, ISSN 1522-3167
Keywords [en]
PatchMatch, FLS, feature correspondence, 3D reconstruction
National Category
Computer graphics and computer vision
Identifiers
URN: urn:nbn:se:kth:diva-323585DOI: 10.1109/AUV53081.2022.9965885ISI: 000896331200018Scopus ID: 2-s2.0-85143972442OAI: oai:DiVA.org:kth-323585DiVA, id: diva2:1735151
Conference
IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), SEP 19-21, 2022, Singapore, SINGAPORE
Note

QC 20230208

Available from: 2023-02-08 Created: 2023-02-08 Last updated: 2025-02-07Bibliographically approved

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Rixon Fuchs, LouiseMaki, Atsuto

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