Title :
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
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;
Conference_Titel :
Oceans - St. John's, 2014
Conference_Location :
St. John´s, NL
Print_ISBN :
978-1-4799-4920-5
DOI :
10.1109/OCEANS.2014.7003097
