An online SLAM-based mosaicking using local maps for ROVs

This article discusses the possibility of building online a mosaic of the seafloor relying on a SLAM framework. The goal is to provide the ROV operator with an approximated seafloor´s visual map relatively rough. In order to have that map, it is important to get an accurate estimate of the location of the visual landmarks and, in particular, a correct data association when a visual landmark is re-visited by the vehicle. The pro posed approach uses the combination of a set of local mosaics constructed in the proximity of the SLAM visual landmarks instead of using a global mosaic. The algorithm was tested using a batch of experimental data in typical operating conditions and the results show the effectiveness of the approach.