%0 Conference Proceedings
%F Spindler98a
%A Spindler, F.
%A Bouthemy, P.
%T Real-time estimation of dominant motion in underwater video images for dynamic positionning
%B IEEE Int. Conf. on Robotics and Automation, ICRA'98
%V 	 2
%P 1063-1068
%C Leuven, Belgium
%X 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
%U http://rainbow-doc.irisa.fr/pdf/1998_icra_spindler.pdf
%8 May
%D 1998