UW Deep SLAM-CNN Assisted Underwater SLAM

Abstract Underwater simultaneous localization and mapping (SLAM) poses significant challenges for modern visual SLAM systems. The integration of deep learning networks within computer vision offers promising potential for addressing these difficulties. Our research draws inspiration from deep learning approaches applied to interest point detection and matching, single image depth prediction and underwater image enhancement. In response, we propose 3D-Net, a deep learning-assisted network designed to tackle these three tasks simultaneously. The network consists of three branches, each serving a distinct purpose: interest point detection, descriptor generation, and depth prediction. The interest point detector and descriptor generator can effectively serve as a front end for a classical SLAM system. The predicted depth information is akin to a virtual depth camera, opening up possibilities for various applications. We provide quantitative and qualitative evaluations to illustrate some of these potential uses. The network was trained in in several steps, using in-air datasets and followed by generated underwater datasets. Further, the network is integrated into feature-based SALM systems ORBSLAM2 and ORBSSLAM3, providing a comprehensive assessment of its effectiveness for underwater navigation.