Application of Image Matching to Seabed Terrain Map

Acta Scientiarum Naturalium Universitatis Pekinensis

Application of Image Matching to Seabed Terrain Map

YU Jiacheng^1,2,3CHEN Jiabin¹YAN Lei²LIU Yuefeng²

¹Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing, 100081; ²Beijing Key Laboratory of Spatial Information Integration and Its Applications, Peking University, Beijing, 100871;³Corresponding Author, E-mail: sdyjc@163.com

Received:2006-11-12 Online:2007-11-20 Published:2007-11-20

图像匹配在海底地图匹配中的应用

于家城^1,2,3,陈家斌¹,晏磊²,刘岳峰²

¹北京理工大学信息科学技术学院自动控制系,北京,100081;²北京大学空间信息集成与3S工程应用北京市重点实验室,北京,100871;³通讯作者,E-mail:sdyjc@163.com

Abstract

Abstract: Seabed terrain matching is applied to increase the localization accuracy for autonomous underwater vehicles (AUV). By bicubic B-spline surface interpolation, reference depth map (RDM) is reconstructed to represent actual terrain. A plot is taken from RDM plus white noise to mimic local depth map (LDM). Then two maps are transformed to 8-bit,256-grey images. In this stage, the two images are matched with correlation, thus image and terrain are connected tightly. Simulation results show that the matching is greatly accurate with certain robusticity, suitable to large seabed terrain areas, including flat and complex regions.

Key words: matching, gridding image, B-spline surface interpolation, RDM

摘要： 应用海底地图匹配技术提高水下载体(AUV)定位精度。通过双三次B-样条曲面插值重建参考地图(RDM)，选取RDM中部分地图附加正态白噪声模拟当地水深地图(LDM)。将两块地图同时转化为8位256级灰度图像，应用图像相关法进行匹配。仿真显示，该方法具有较高的匹配精度和一定的抗差特性，具有适应大面积海底地形，包括平坦区域和复杂区域的特点。

关键词: 匹配, 网格图像, B-样条曲面插值, RDM

CLC Number:

P 204

YU Jiacheng,CHEN Jiabin,YAN Lei,LIU Yuefeng. Application of Image Matching to Seabed Terrain Map[J]. Acta Scientiarum Naturalium Universitatis Pekinensis.

于家城,陈家斌,晏磊,刘岳峰. 图像匹配在海底地图匹配中的应用[J]. 北京大学学报（自然科学版）.

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https://xbna.pku.edu.cn/EN/Y2007/V43/I6/733

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