Optical Mosaicking and 3D Reconstruction aboard an Underway Iver3 UUV

摘要: Traditionally, Unmanned Underwater Vehicles (UUVs) serve as data recorders, collecting and storing for post-processing after the mission is completed. Computer processing power aboard UUVs, however, has steadily increased to match pace with consumer computational hardware. As this capacity continues grow, new opportunities are becoming available on-board automated target recognition, image processing, mosaicking, other product creation. These products can now be analyzed, compressed, transmitted mid-mission via acoustic modems, radio modems at surface, or even over Iridium satellite communications. This intelligence lends greater dynamic control, a reduction in operator reaction time, much lower latency age of useful data. In paper, we will discuss L3 OceanServer Iver3 camera system its use generate like benthic mosaics 3D reconstructions.