Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

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Título:	Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles
Autor/a:	Salvi, Joaquim; Petillot, Yvan R.; Batlle, Elisabet
Abstract:	This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed
Materia(s):	-Imatges -- Processament -Kalman, Filtre de -Robots mòbils -Robots submarins -Vehicles submergibles -Image processing -Kalman filtering G -Mobile robots -Submersibles -Underwater robots
Derechos:	Tots els drets reservats
Tipo de documento:	Artículo
Editor:	IEEE
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Hurtós Vilarnau, Natàlia; Ribas Romagós, David; Cufí i Solé, Xavier; Petillot, Yvan R.; Salvi, Joaquim

Salvi, Joaquim; Petillot, Yvan R.; Thomas, Stephen; Aulinas Masó, Josep M.

Aulinas Masó, Josep M.; Salvi, Joaquim; Lladó Bardera, Xavier; Petillot, Yvan R.

Palomer Vila, Albert; Ridao Rodríguez, Pere; Youakim, Dina; Ribas Romagós, David; Forest Collado, Josep; Petillot, Yvan R.

Mallios, Angelos; Ridao Rodríguez, Pere; Hernàndez Bes, Emili; Ribas Romagós, David; Maurelli, Francesco; Petillot, Yvan R.

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