Magda Meireles, Renato Lourenço, A. Dias, J. Almeida, H. Silva, A. Martins
{"title":"Real time visual SLAM for underwater robotic inspection","authors":"Magda Meireles, Renato Lourenço, A. Dias, J. Almeida, H. Silva, A. Martins","doi":"10.1109/OCEANS.2014.7003097","DOIUrl":null,"url":null,"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.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"40 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 Oceans - St. John's","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.2014.7003097","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17
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.
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