Optical data processing in the context of the picmar project

Abstract

The inspection of the seafloor is a fundamental task during the implantation, maintenance and dismantling of marine and oceanic infrastructures. The PICMAR project is intended to overcome the existing limitations of the current inspection systems. In the developed framework, the whole sensor-data processing is treated, improving the state of the art in topics such as multimodal data registration and 2D / 3D data blending, and going beyond in others such as automatic data classification and change detection. In this paper, the image processing pipeline is explained, involving preprocessing, geometrical and photometrical registration and change detection, and some of the obtained results are shown.