In this paper, a visual simultaneous localization and mapping (VSLAM/visual SLAM) system called underwater visual SLAM (UVS) system is presented, specifically tailored for camera-only navigation in natural underwater environments. The UVS system is particularly optimized towards precision and robustness, as well as lifelong operations. We build upon Oriented features from accelerated segment test and Rotated Binary robust independent elementary features simultaneous localization and mapping (ORB-SLAM) and improve the accuracy by performing an exact search in the descriptor space during triangulation and the robustness by utilizing a unified initialization method and a motion model. In addition, we present a scale-agnostic station-keeping detection, which aims to optimize the map and poses during station-keeping, and a pruning strategy, which takes into account the point’s age and distance to the active keyframe. An exhaustive evaluation is presented to the reader, using a total of 38 in-air and underwater sequences. ; publishedVersion


    Access

    Download


    Export, share and cite



    Title :

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


    Contributors:

    Publication date :

    2023-01-01


    Remarks:

    cristin:2169894
    Autonomous Robots



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629




    Underwater Visual 3D SLAM Using a Bio-inspired System

    Guth, Felipe Albring / Silveira, Luan / Amaral, Marcos et al. | IEEE | 2013


    Opportunistic sampling-based active visual SLAM for underwater inspection

    Chaves, S. M. | British Library Online Contents | 2016


    Indoor navigation for aerial vehicle using monocular visual SLAM

    He, Xiang / Cai, Zhihao / Huang, Dongze et al. | IEEE | 2014


    Towards Robust Single-Shot Monocular SLAM

    Schroeder, Gregory / Hussein, Ahmed | Springer Verlag | 2024


    Fast semi-dense 3D semantic mapping with monocular visual SLAM

    Li, Xuanpeng / Ao, Huanxuan / Belaroussi, Rachid et al. | IEEE | 2017