论文标题
基于光学和声学的水下图像的跨视图和跨域水下定位
Cross-view and Cross-domain Underwater Localization based on Optical Aerial and Acoustic Underwater Images
论文作者
论文摘要
使用无人机或卫星的空中图像在陆地图像定位上广泛探索了跨视图匹配。这项研究扩展了跨视图匹配的想法，并提出了一个跨域和跨视图本地化框架。该方法确定了彩色空中图像与水下声学图像之间的相关性，以改善在港口和码头等部分结构化环境中行驶的水下车辆的定位。该方法在码头的水下车辆采购的真实数据集上进行了验证。与车辆的死亡估算相比，结果表明本地化有所改善。
Cross-view image matches have been widely explored on terrestrial image localization using aerial images from drones or satellites. This study expands the cross-view image match idea and proposes a cross-domain and cross-view localization framework. The method identifies the correlation between color aerial images and underwater acoustic images to improve the localization of underwater vehicles that travel in partially structured environments such as harbors and marinas. The approach is validated on a real dataset acquired by an underwater vehicle in a marina. The results show an improvement in the localization when compared to the dead reckoning of the vehicle.
