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.
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页数：5
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