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Gradnja 3-D modela morskega dna s pomočjo strukture iz gibanja
ANDREJC, ROK (Avtor), Perš, Janez (Mentor) Več o mentorju... Povezava se odpre v novem oknu

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Izvleček
Mnoge panoge so odvisne od varnih in zanesljivih morskih poti. V plitvinah ter okolici luk in pristanišč so ovire pod vodno gladino velik problem za pomorski promet in plovbo. Po drugi strani morske biologe zanimajo mesečne, letne in večletne spremembe morskega dna ter gibanje flore in favne. Potrebe po opisu podvodnega terena se kažejo v morskih in sladkovodnih okoljih. Pričujoče magistrsko delo predstavi eno od rešitev za omenjene probleme v obliki podvodne kamere nameščene na avtonomno plovilo, opremljeno s senzorji za orientacijo in pozicijo. Iz zajetega videoposnetka kamere nameščene pod plovilom, ki snema navpično navzdol, izberemo slike na podlagi kriterija prepotovane razdalje. S pomočjo senzorjev na plovilu generiramo 3-D točke morskega dna ter točke generirane med zaporednimi izbranimi slikami umestimo v globalni koordinatni sistem. Natančnost globine je odvisna od kvalitete videoposnetka, le-ta pa v največji meri od vidljivosti in globine dna. Z izračunom entropije izbrane slike ocenimo vidljivost v vodi in s tem smiselnost triangulacije točk. Kadar je v sliki premalo informacije, pripadajoči oblak točk predstavlja horizontalna ploskev generirana na globini, ki je bila izmerjena z globinomerom.

Jezik:Slovenski jezik
Ključne besede:računalniški vid, oblak točk, morsko dno, struktura iz gibanja
Vrsta gradiva:Magistrsko delo/naloga (mb22)
Organizacija:FE - Fakulteta za elektrotehniko
Leto izida:2017
Število ogledov:646
Število prenosov:510
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Sekundarni jezik

Jezik:Angleški jezik
Naslov:Estimation of the 3-D Seabed Model Using Structure From Motion
Izvleček:
Many industries rely heavily on safe and reliable water traffic. Obstacles below the water line are a significant problem for Marine safety, and therefore need to be continuously monitored, especially in the shallow water, sea ports and harbours. Biologists, on the other hand, are interested in tracking of sea-bed changes, especially as related to flora and fauna, over the course of months, years, and even decades. This illustrates the need for mapping and reconstruction of underwater terrain both in seawater and freshwater environments. This thesis presents one of the possible solutions for the above problems. It consists of an underwater camera, attached to an autonomous boat, which is equipped with position and orientation sensors. From the video captured by a camera pointing downwards, frames are extracted, with criteria based on travelled GPS distance between the two successive frames. Distinctive key points are detected and matched between the successive frames, and using on-board sensors, 3-D points are triangulated to form a point cloud. Extracted point clouds are registered to global positioning grid, using sensor data. Depth accuracy depends heavily on video quality, which, in turn, is proportional to water depth and clarity. Picture quality is assessed with the help of entropy estimation before the frame is sent to processing. If the picture does not contain enough information for a reliable point cloud reconstruction, depth from an on-board single-beam sonar is taken and points for that patch are synthesized based on the measured depth to provide second-best possible estimate of the terrain surface.

Ključne besede:computer vision, stereo, point cloud, seabed, structure from motion

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