Piecewise planar underwater mosaicing

Fabio Bellavia, Fabio Bellavia, Alessandro Ridolfi, Marco Fanfani, Niccolo Monni, Fabio Pazzaglia, Riccardo Costanzi, Benedetto Allotta, Carlo Colombo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


A commonly ignored problem in planar mosaics, yet often present in practice, is the selection of a reference homography reprojection frame where to attach the successive image frames of the mosaic. A bad choice for the reference frame can lead to severe distortions in the mosaic and can degenerate in incorrect configurations after some sequential frame concatenations. This problem is accentuated in uncontrolled underwater acquisition setups as those provided by AUVs or ROVs due to both the noisy trajectory of the acquisition vehicle - with roll and pitch shakes - and to the non-flat nature of the seabed which tends to break the planarity assumption implicit in the mosaic construction. These scenarios can also introduce other undesired effects, such as light variations between successive frames, scattering and attenuation, vignetting, flickering and noise. This paper proposes a novel mosaicing pipeline, also including a strategy to select the best reference homography in planar mosaics from video sequences which minimizes the distortions induced on each image by the mosaic homography itself. Moreover, a new non-linear color correction scheme is incorporated to handle strong color and luminosity variations among the mosaic frames. Experimental evaluation of the proposed method on real, challenging underwater video sequences shows the validity of the approach, providing clear and visually appealing mosaics
Original languageEnglish
Title of host publicationMTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World
Number of pages7
Publication statusPublished - 2015

All Science Journal Classification (ASJC) codes

  • Renewable Energy, Sustainability and the Environment
  • Oceanography


Dive into the research topics of 'Piecewise planar underwater mosaicing'. Together they form a unique fingerprint.

Cite this