Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles
This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected o...
| Authors: | , , |
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| Format: | article |
| Publication Date: | 2008 |
| Country: | España |
| Institution: | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| Repository: | Recercat. Dipósit de la Recerca de Catalunya |
| OAI Identifier: | oai:recercat.cat:10256/2493 |
| Online Access: | http://hdl.handle.net/10256/2493 |
| Access Level: | Open access |
| Keyword: | Imatges -- Processament Kalman, Filtre de Robots mòbils Robots submarins Vehicles submergibles Image processing Kalman filtering G Mobile robots Submersibles Underwater robots |
| Summary: | This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed |
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