ISSN 1002-1027  CN 11-2952/G2

Acta scientiarum naturalium Universitatis Pekinensis

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Application of Image Matching to Seabed Terrain Map

YU Jiacheng1,2,3CHEN Jiabin1YAN Lei2LIU Yuefeng2   

  1. 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, Beij
  • Received:2006-11-12 Online:2007-11-20 Published:2007-11-20

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). Thentwo 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.