Real Time Visual SLAM for underwater robotic inspection

被引：0
|
作者：
Meireles, Magda [1 ]
Lourenco, Renato [1 ]
Dias, Andre [1 ]
Almeida, Jose Miguel [1 ]
Silva, Hugo [1 ]
Martins, Alfredo [1 ]
机构：
[1] Porto Polytech Inst, INESC TEC Inst Syst & Comp Engn Porto, ISEP Sch Engn, Oporto, Portugal
来源：
2014 OCEANS - ST. JOHN'S | 2014年
关键词：
Underwater navigation system; SLAM; stereo vision; ROV;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
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.
引用
收藏
页数：5
相关论文
共 50 条
  • [1] Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency
    Kim, Ayoung
    Eustice, Ryan M.
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (03) : 719 - 733
  • [2] Visual SLAM with Keyframe Selection for Underwater Structure Inspection using an Autonomous Underwater Vehicle
    Hong, Seonghun
    Kim, Jinwhan
    [J]. 2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2016, : 558 - 562
  • [3] Opportunistic sampling-based active visual SLAM for underwater inspection
    Stephen M. Chaves
    Ayoung Kim
    Enric Galceran
    Ryan M. Eustice
    [J]. Autonomous Robots, 2016, 40 : 1245 - 1265
  • [4] Opportunistic sampling-based active visual SLAM for underwater inspection
    Chaves, Stephen M.
    Kim, Ayoung
    Galceran, Enric
    Eustice, Ryan M.
    [J]. AUTONOMOUS ROBOTS, 2016, 40 (07) : 1245 - 1265
  • [5] Parallel, Real-Time Visual SLAM
    Clipp, Brian
    Lim, Jongwoo
    Frahm, Jan-Michael
    Pollefeys, Marc
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 3961 - 3968
  • [6] Real-time thermal error compensation method for robotic visual inspection system
    Yin, Shibin
    Guo, Yin
    Ren, Yongjie
    Zhu, Jigui
    Yang, Shourui
    Ye, Shenghua
    [J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2014, 75 (5-8): : 933 - 946
  • [7] Real-time thermal error compensation method for robotic visual inspection system
    Shibin Yin
    Yin Guo
    Yongjie Ren
    Jigui Zhu
    Shourui Yang
    Shenghua Ye
    [J]. The International Journal of Advanced Manufacturing Technology, 2014, 75 : 933 - 946
  • [8] KeproVt : underwater robotic system for visual inspection of nuclear reactor internals
    Cho, BH
    Byun, SH
    Shin, CH
    Yang, JB
    Song, SI
    Oh, JM
    [J]. NUCLEAR ENGINEERING AND DESIGN, 2004, 231 (03) : 327 - 335
  • [9] UVS: underwater visual SLAM—a robust monocular visual SLAM system for lifelong underwater operations
    Marco Leonardi
    Annette Stahl
    Edmund Førland Brekke
    Martin Ludvigsen
    [J]. Autonomous Robots, 2023, 47 : 1367 - 1385
  • [10] Efficient Visual SLAM using Selective Image Registration for Autonomous Inspection of Underwater Structures
    Hong, Sconghun
    Kim, Jinwhan
    [J]. 2016 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES (AUV), 2016, : 189 - 194
12345