The use of autonomous underwater vehicles (AUVs) for visual inspection tasks is a promising robotic field. The images captured by the robots can also aid in their localization/navigation. In this context, this paper proposes an approach to localization and mapping problem of underwater vehicle. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer vision through the algorithm SIFT to extract the features in underwater image sequences and ii) the development of topological maps to localization and navigation. The integration of such systems will allow simultaneous localization and mapping of the environment. A set of tests with real robots was accomplished, regarding online and performance issues. The results reveals an accuracy and robust approach to several underwater conditions, as illumination and noise, leading to a promissory and original SLAM technique.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    SLAM in underwater environment using SIFT and topologic maps


    Beteiligte:
    Drews, P. jun. (Autor:in) / Botelho, S. (Autor:in) / Gomes, S. (Autor:in)


    Erscheinungsdatum :

    2008


    Format / Umfang :

    6 Seiten, 25 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Development of Automotive Components using Topologic Optimization

    Sibuya, Aureo J. / de Lourenço Silva, Edval / de Castro Orefice, Fábio et al. | SAE Technical Papers | 2005



    Parametric and Topologic Optimization Applied to Powertrain Behaviour

    Federation Internationale des Societes d'Ingenieurs des Techniques de l'Automobile | British Library Conference Proceedings | 2002


    UVS: Underwater Visual SLAM - A Robust Monocular Visual SLAM System for Lifelong Underwater Operations

    Leonardi, Marco / Ludvigsen, Martin / Stahl, Annette et al. | BASE | 2023

    Freier Zugriff

    Shape and Topologic Optimization Of Engine Mounts

    Carneiro, Guilherme / Zambelli, Luciano / Bitencourt, Rudinixon et al. | SAE Technical Papers | 2006