Monocular ORB-SLAM application in underwater scenarios

Franco Hidalgo Herencia, Chris Kahlefendt, Thomas Braunl

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538616543
DOI
EstadoPublicada - 4 dic 2018
Publicado de forma externa
Evento2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japón
Duración: 28 may 201831 may 2018

Serie de la publicación

Nombre2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Conferencia

Conferencia2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
País/TerritorioJapón
CiudadKobe
Período28/05/1831/05/18

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