Title :
Underwater Feature Based Visual Odometry - Experiment and Analysis
Author :
Gong, Peiliang ; Zhang, Donglai
Author_Institution :
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
Abstract :
Visual odometry is an effective method to localize the mobile robotic vehicles. This paper presents GLS and RMKF based visual odometry for a UUV platform, to realize local-area localization or navigation, and a certain underwater experimental results are given to compare and show respective characteristics of the two algorithms.
Keywords :
Kalman filters; autonomous underwater vehicles; least squares approximations; mobile robots; navigation; robot vision; GLS; RMKF; UUV platform; local-area localization; mobile robotic vehicles; navigation; underwater feature based visual odometry; Cameras; Covariance matrix; Filtering theory; Robots; Trajectory; Vehicles; Visualization; GLS; RMKF; UUV; visual odometry;
Conference_Titel :
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4577-1881-6
DOI :
10.1109/RVSP.2011.14
