PERCEPTION
Real time visual SLAM for underwater robotic inspection
Magda Meireles, Renato Lourenço, André Dias, José Almeida, Hugo Silva, Alfredo Martins
- Year
- 2014
- Citations
- 14
Abstract
This paper addresses the development of an underwater visual navigation system for a Remotely Operated Vehicle (ROV) based on Real-Time Simultaneous Localization and Mapping method using natural landmarks. Our proposed approach was tested in an indoor tank, where field experiments were performed to obtain 3D vehicle (VIDEORAY Pro3 ROV) trajectory, and results validated using an external stereo vision “ground-truth” system.
Keywords
Remotely operated underwater vehicleSimultaneous localization and mappingComputer visionArtificial intelligenceUnderwaterComputer scienceTrajectoryGround truthMobile robotRobot
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