This paper describes the hardware setup of a stereovision system for underwater 3D object detection and a camera calibration method that does not require complex underwater procedures. The vision system has been developed within the MARIS Italian national project for underwater cooperative intervention tasks. The hardware architecture is based upon state of the art technologies. The software modules of the system are based on the ROS middleware. A dataset of underwater stereo images of cylindrical pipes has been collected and is made publicly available.

An underwater stereo vision system: From design to deployment and dataset acquisition / Oleari, Fabio; Kallasi, Fabjan; LODI RIZZINI, Dario; Aleotti, Jacopo; Caselli, Stefano. - (2015), pp. 1-6. ((Intervento presentato al convegno MTS/IEEE OCEANS 2015 - Genova tenutosi a ita nel 2015 [10.1109/OCEANS-Genova.2015.7271529].

An underwater stereo vision system: From design to deployment and dataset acquisition

OLEARI, FABIO;KALLASI, Fabjan;LODI RIZZINI, Dario;ALEOTTI, Jacopo;CASELLI, Stefano
2015

Abstract

This paper describes the hardware setup of a stereovision system for underwater 3D object detection and a camera calibration method that does not require complex underwater procedures. The vision system has been developed within the MARIS Italian national project for underwater cooperative intervention tasks. The hardware architecture is based upon state of the art technologies. The software modules of the system are based on the ROS middleware. A dataset of underwater stereo images of cylindrical pipes has been collected and is made publicly available.
9781479987368
9781479987368
An underwater stereo vision system: From design to deployment and dataset acquisition / Oleari, Fabio; Kallasi, Fabjan; LODI RIZZINI, Dario; Aleotti, Jacopo; Caselli, Stefano. - (2015), pp. 1-6. ((Intervento presentato al convegno MTS/IEEE OCEANS 2015 - Genova tenutosi a ita nel 2015 [10.1109/OCEANS-Genova.2015.7271529].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2810697
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