The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLII-2/W8
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 179–186, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-179-2017
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 179–186, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-179-2017

  14 Nov 2017

14 Nov 2017

LOW COST EMBEDDED STEREO SYSTEM FOR UNDERWATER SURVEYS

M. M. Nawaf, J.-M. Boï, D. Merad, J.-P. Royer, and P. Drap M. M. Nawaf et al.
  • Aix-Marseille Université, CNRS, ENSAM, Université De Toulon, LSIS UMR 7296, Domaine Universitaire de Saint-Jérôme, Bâtiment Polytech, Avenue Escadrille Normandie-Niemen, 13397, Marseille, France

Keywords: Image processing, underwater imaging, embedded systems, stereo vision, visual odometry, 3D reconstruction

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.