Real time visual SLAM for underwater robotic inspection

Author

Meireles, Magda ; Lourenco, Renato ; Dias, Andre ; Almeida, Jussara M. ; Silva, Hugo ; Martins, Alfredo

Author_Institution

Sch. of Eng., Porto Polytech. Inst., Porto, Portugal

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

5

Abstract

This paper addresses the development of an underwater visual navigation system for a Remotely Operated Vehicle (ROV) based on Real-Time Simultaneous Localization and Mapping method using natural landmarks. Our proposed approach was tested in an indoor tank, where field experiments were performed to obtain 3D vehicle (VIDEORAY Pro3 ROV) trajectory, and results validated using an external stereo vision “ground-truth” system.

Keywords

SLAM (robots); automatic optical inspection; autonomous underwater vehicles; marine navigation; stereo image processing; 3D vehicle; 3D vehicle trajectory; VIDEORAY Pro3 ROV; external stereo vision ground-truth system; indoor tank; natural landmarks; real time visual SLAM; real-time simultaneous localization and mapping method; remotely operated vehicle; underwater robotic inspection; underwater visual navigation system; Cameras; Feature extraction; Navigation; Real-time systems; Simultaneous localization and mapping; Visualization; ROV; SLAM; Underwater navigation system; stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7003097

Filename

7003097