Using MB System and Matlab to generate geographical mosaics from seafloor images
A method of generating photomosaics from AUV derived seafloor images was produced using principally the software packages MB System and Matlab. Images are placed based on their geographical positions as logged by the vehicle, however, the raw navigation is refined using acquired bathymetry, reference bathymetry, and the images themselves. During these refinements, care is taken to maintain a physically realizable navigation model. The initial phase of this development was to generate supplementary files to support image placement into world space by GIS utilities. Subsequently, programs were developed in Matlab to assemble image data in a more effective manner than was available from standard utilities, and also to produce an updated navigation model based on visual control points common between crossing and overlapping images. Resulting mosaics have been used for groundtruth points in broader surveys, sensor placement and localization, and general mission planning.
OCEANS 2016 MTS/IEEE Monterey