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

Journal of the Brazilian Computer Society

Botelho, Silvia Silva da Costa¹  Rocha, Celina Haffele Da¹  Drews Junior, Paulo Lilles Jorge¹  Figueiredo, Mônica da Silva¹  Universidade Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil¹  Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil¹  Oliveira, Gabriel Leivas¹ 

关键词: Robotics;    Computer Vision;    Underwater Vehicles;    Topological Maps;    Self-localization and mapping.;   

DOI  :  10.1007/BF03194505

学科分类：农业科学（综合）

来源: Springer U K

【 摘 要 】

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.

【 授权许可】

Unknown