The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of non-standard locomotion robotic methods. In this context, this paper proposes an approach to visual odometry and mapping of underwater vehicles. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer vision for visual odometry, extracting landmarks in underwater image sequences and ii) the development of topological maps for localization and navigation. The integration of such systems will allow visual odometry, 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 visual odometry and mapping technique.


    Access

    Download


    Export, share and cite



    Title :

    Appearance-based odometry and mapping with feature descriptors for underwater robots



    Publication date :

    2009-01-01


    Remarks:

    doi:10.1007/BF03194505



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Visual odometry and mapping for Underwater Autonomous Vehicles

    Costa Botelho, Silvia Silva / Drews, Paulo / Oliveira, Gabriel Leivas et al. | Tema Archive | 2009


    Mapping Appearance Descriptors on 3D Body Models for People Re-identification

    Baltieri, D. / Vezzani, R. / Cucchiara, R. | British Library Online Contents | 2015


    Feature Tracking For Visual Odometry

    HUNT SHAWN | European Patent Office | 2019

    Free access

    Feature tracking for visual odometry

    HUNT SHAWN | European Patent Office | 2020

    Free access

    PASSIVE UNDERWATER ODOMETRY USING A VIDEO CAMERA

    SADJADI FIROOZ A / TANGIRALA SEKHAR C | European Patent Office | 2017

    Free access