Monocular ORB-SLAM application in underwater scenarios

Franco Hidalgo Herencia, Chris Kahlefendt, Thomas Braunl

Research output: Contribution to conferenceConference Paperpeer-review

4 Scopus citations


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 languageAmerican English
StatePublished - 4 Dec 2018
Externally publishedYes
Event2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan
Duration: 28 May 201831 May 2018


Conference2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018


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