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Low cost embedded stereo system for underwater surveys

Abstract : This paper provides details of both hardware and software conception and realization of a hand-held stereo embedded system for underwater imaging. The designed system can run most image processing techniques smoothly in real-time. The developed functions provide direct visual feedback on the quality of the taken images which helps taking appropriate actions accordingly in terms of movement speed and lighting conditions. The proposed functionalities can be easily customized or upgraded whereas new functions can be easily added thanks to the available supported libraries. Furthermore, by connecting the designed system to a more powerful computer, a real-time visual odometry can run on the captured images to have live navigation and site coverage map. We use a visual odometry method adapted to low computational resources systems and long autonomy. The system is tested in a real context and showed its robustness and promising further perspectives.
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https://hal-amu.archives-ouvertes.fr/hal-03361861
Contributor : Pierre Drap Connect in order to contact the contributor
Submitted on : Friday, October 1, 2021 - 3:33:04 PM
Last modification on : Sunday, October 10, 2021 - 3:17:19 AM

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Distributed under a Creative Commons Attribution 4.0 International License

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Mohamad Nawaf, Jean-Marc Boï, Djamel Merad, Jean-Philip Royer, Pierre Drap. Low cost embedded stereo system for underwater surveys. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Copernicus GmbH (Copernicus Publications), 2017, XLII-2/W8, pp.179-186. ⟨10.5194/isprs-archives-XLII-2-W8-179-2017⟩. ⟨hal-03361861⟩

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