Monocular ORB-SLAM application in underwater scenarios

Franco Hidalgo Herencia, Chris Kahlefendt, Thomas Braunl

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 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 languageEnglish
Title of host publication2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538616543
StatePublished - 4 Dec 2018
Externally publishedYes
Event2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan
Duration: 28 May 201831 May 2018

Publication series

Name2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018


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


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