Monocular Visual SLAM for Underwater Navigation in Turbid and Dynamic Environments

摘要

Localization, navigation, and mapping using vision-based algorithms are an active topic in underwater robotic applications. Although many algorithms developed in recent years, especially in the ground and areal robotic communities, directly applying those methods in underwater navigation remain challenging due to the visual degradation induced by the medium. In this paper, we proposed UW-SLAM (Underwater SLAM), a new monocular visual SLAM algorithm focused on the underwater environment which addresses the turbidity and dynamism. The proposed method was evaluated with several underwater datasets with comparison to the state of the art monocular SLAM methods.