이미지 쌍의 유사도를 고려한 Acoustic Odometry 정확도 향상 연구
A Study on Acoustic Odometry Estimation based on the Image Similarity using Forward-looking Sonar
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초록
In this study, we propose a method to improve the accuracy of acoustic odometry using optimal frame interval selection for Fourierbasedimage registration. The accuracy of acoustic odometry is related to the phase correlation result of image pairs obtained from theforward-looking sonar (FLS). Phase correlation failure is caused by spurious peaks and high-similarity image pairs that can be preventedby optimal frame interval selection. We proposed a method of selecting the optimal frame interval by analyzing the factors affectingphase correlation. Acoustic odometry error was reduced by selecting the optimal frame interval. The proposed method was verifiedusing field data.
Abstract
In this study, we propose a method to improve the accuracy of acoustic odometry using optimal frame interval selection for Fourierbasedimage registration. The accuracy of acoustic odometry is related to the phase correlation result of image pairs obtained from theforward-looking sonar (FLS). Phase correlation failure is caused by spurious peaks and high-similarity image pairs that can be preventedby optimal frame interval selection. We proposed a method of selecting the optimal frame interval by analyzing the factors affectingphase correlation. Acoustic odometry error was reduced by selecting the optimal frame interval. The proposed method was verifiedusing field data.
참고문헌 (21)
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