Improving visual odometry for AUV navigation in marine environments
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/356430
Tipus de documentArticle
Data publicació2021
EditorSARTI
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Visual odometry is usually integrated in the localization and control modules of underwater robots, combined with other data coming from diverse instruments and sensors, such as, Doppler Velocity Logs (DVL), pressure sensors or inertial units, to compute the vehicle motion and pose by means of death reckoning. Dead reckoning is subject to cumulative drift, and, in underwater scenarios is specially afected by the challenging structures, color textures and environmental conditions (currents, haze, water density, salinity, wind, etc...), increasing the need of specifc improvement or adjustment to this media. This article presents preliminary results of an evolution of the well known VISO2 stereo odometer, modifed in order to improve its performance when run online in marine scenarios, and from a moving Autonomous Underwater Vehicle (AUV) equipped with cameras pointing downwards to the sea bottom.
CitacióNordfeldt Fiol, B.M. [et al.]. Improving visual odometry for AUV navigation in marine environments. 9th International Workshop on Marine Technology (MARTECH 2021)". ""Instrumentation Viewpoint", 2021, núm. 21, p. 73-74.
Dipòsit legalB.32814-2006
ISSN1886-4864
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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ID_37_MARTECH ... ON VIEWPOINT_corregido.pdf | Article | 907,4Kb | Visualitza/Obre |