Monocular ORB-SLAM application in underwater scenarios

Franco Hidalgo; Chris Kahlefendt; Thomas Braunl

doi:10.1109/OCEANSKOBE.2018.8559435

Monocular ORB-SLAM application in underwater scenarios

Franco Hidalgo, Chris Kahlefendt, Thomas Braunl

Research output: Contribution to conference › Conference Paper

1 Scopus citations

Abstract

© 2018 IEEE. This paper presents an experimental evaluation of monocular ORB-SLAM applied to underwater scenarios. It is investigated as an alternative SLAM method with minimal instu-mentation compared to other approaches that integrate different sensors such as inertial and acoustic sensors. ORB-SLAM creates a 3D map based on image frames and estimates the position of the robot by using a feature-based front-end and a graph-based back-end. The performance of ORB-SLAM is evaluated through experiments in different settings with varying lighting, visibility and water dynamics. Results show good performance given the right conditions and demonstrate that ORB-SLAM can work well in the underwater environment. Based on our findings the paper outlines possible enhancements which should further improve on the algorithms performance.

Original language	American English
DOIs	https://doi.org/10.1109/OCEANSKOBE.2018.8559435
State	Published - 4 Dec 2018
Externally published	Yes
Event	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Duration: 4 Dec 2018 → …

Conference

Conference	2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Period	4/12/18 → …

Access to Document

10.1109/OCEANSKOBE.2018.8559435

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Hidalgo, F., Kahlefendt, C., & Braunl, T. (2018). Monocular ORB-SLAM application in underwater scenarios. Paper presented at 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018, . https://doi.org/10.1109/OCEANSKOBE.2018.8559435

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