| In the underwater environment, an image mosaic allows to obtain a panoramic view of a site of interest. The image sequence, used to create such mosaic, is acquired by a moving vehicle. The vehicle trajectory is estimated by a simple speed vector integration. As a consequence, a drift appears. This is directly palpable on the mosaic, especially when the vehicle crosses its own trajectory (at "rendezvous" times). This work consists in estimating as precisely as possible, the trajectory from angle and speed measurements, by taking into account the rendezvous times. First, the couples of rendezvous times are detected, then they are introduced in the vehicle localization algorithm. Second, the mosaic is created from these estimated positions. The proposed... |
