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2008
IEEE

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

10 years 3 months ago
Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles
— This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed.
Joaquim Salvi, Yvan R. Petillot, Elisabet Batlle
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Joaquim Salvi, Yvan R. Petillot, Elisabet Batlle
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