Underwater Image Mosaicing

Sun, 01 Sep 2024 00:00:00 +0000

Introduction

In this project I worked on the understanding of image registration by working on a low contrast, somewhat challenging dataset.

The paper describing the work for photomosaicking is attached !Pizarro2003joe.pdf. I wanted to read this paper and see if we can duplicate some of the work in it while using some of the techniques I have learned in the class so far.

Output

There are 2 set of images I worked with 2 set of images each containing 6 images and 128 images.

Steps involved are normalising the image, applying histogram equalization techniques like CLAHE, feature extraction and trying image registration. Next step I tried to use GTSAM and build a factor graph to get a better fit.

Normalising and applying CLAHE to all the images

Normalised Images

CLAHE Images

SIFT Images

Factor graph before Optimization for 6 image set

Factor graph after Optimization for 6 Image set

Output image after Optimization for 6 Image set

Output Image before Optimization for 128 Image set

Output Image after Optimization for 128 Image set

Computer Vision, GTSAM | Rahil Bhowal

Underwater Image Mosaicing

Introduction

Output