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F. Spindler, P. Bouthemy. Real-time estimation of dominant motion in underwater video images for dynamic positionning. In IEEE Int. Conf. on Robotics and Automation, ICRA'98, Volume 2, Pages 1063-1068, Leuven, Belgium, May 1998.

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In this paper, we propose a 2D visual motion estimation method which can be exploited to achieve a dynamic positioning (eg. by gaze control) with respect to a sea-bottom area of interest of a video camera mounted on a subsea vehicle. It mainly involves a dominant 2D motion robust estimation step from underwater video sequences. Optimizations carried out on the motion estimation code have made possible the use of our algorithm in ``application-related real-time'' for scientific exploration or inspection tasks. We have developed a friendly and efficient interface to perform this algorithm in an operational context. Experiments dealing with complex real underwater scenes are reported and validate the approach


Fabien Spindler

BibTex Reference

   Author = {Spindler, F. and Bouthemy, P.},
   Title = {Real-time estimation of dominant motion in underwater video images for dynamic positionning},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'98},
   Volume = {    2},
   Pages = {1063--1068},
   Address = {Leuven, Belgium},
   Month = {May},
   Year = {1998}

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