TY - GEN
T1 - A novel algorithm for quasi real-time matching of bathymetric data
AU - Al-Rawi, Mohammed
AU - Sebastien, Tauvry
AU - Isasi, Alberto
AU - Galdran, Adrian
AU - Rodriguez, Jonathan
AU - Elmgren, Fredrik
AU - Bastos, Joaquim
AU - Pinto, Marc
N1 - Funding Information:
The research leading to the presented results has been undertaken within the SWARMs European project (Smart and Networking Underwater Robots in Cooperation Meshes), under Grant Agreement n. 662107-SWARMs-ECSEL-2014-1, which is partially supported by the ECSEL JU and the Fundação para a Ciência e a Tecnologia (FCT; ECSEL/0003/2014), the Spanish National Plan for Scientific Tech. Res. and Innov: TEC2013-48453-C2-2-R, and China Scholarship Council (CSC).
Funding Information:
The research leading to the presented results has been undertaken within the SWARMs European project (Smart and Networking Underwater Robots in Cooperation Meshes), under Grant Agreement n. 662107-SWARMs-ECSEL-2014-1, which is partially supported by the ECSEL JU and the Fundação para a Ciência e a Tecnologia (FCT; ECSEL/0003/2014), the Spanish National Plan for Scientific Tech. Res. and Innov: TEC2013- 48453-C2-2-R, and China Scholarship Council (CSC).
Publisher Copyright:
© 2018 ASME.
PY - 2018/9/25
Y1 - 2018/9/25
N2 - Matching two regions represented in bathymetric data that have some form of geographical overlapping is an important and challenging aspect in underwater mapping. It is important because of the possible error in estimating the geographical location of each point underwater. It is challenging due to the size of the acquired bathymetric data points. The matching could also play a vital role in the registration of underwater images and/or maps fusion, if both bathymetric and intensity scans are considered. Compared to the exhaustive search that requires polynomial time, O(n2), an efficient bathymetric matching algorithm is proposed in this work that finds several matchpoints in linear time, requiring thus O(n) computations. The paper thus presents a new algorithm that allows to compile the bathymetric data of the common areas of two submarine areas that have been sampled in underwater missions.
AB - Matching two regions represented in bathymetric data that have some form of geographical overlapping is an important and challenging aspect in underwater mapping. It is important because of the possible error in estimating the geographical location of each point underwater. It is challenging due to the size of the acquired bathymetric data points. The matching could also play a vital role in the registration of underwater images and/or maps fusion, if both bathymetric and intensity scans are considered. Compared to the exhaustive search that requires polynomial time, O(n2), an efficient bathymetric matching algorithm is proposed in this work that finds several matchpoints in linear time, requiring thus O(n) computations. The paper thus presents a new algorithm that allows to compile the bathymetric data of the common areas of two submarine areas that have been sampled in underwater missions.
U2 - 10.1115/OMAE201878768
DO - 10.1115/OMAE201878768
M3 - Conference contribution
AN - SCOPUS:85055450054
T3 - Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
BT - ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2018
Y2 - 17 June 2018 through 22 June 2018
ER -