The increasing use of Autonomous Underwater Vehicles (AUV) in industrial or scientific applications makes the vehicle localizationNegre Carrasco, Pep Lluis one of the challenging questions to consider for the mission success. Graph-SLAM has emerged as a promising approachBonin-Font, Francisco in land vehicles; however, due to the complexity of the aquatic media, these systems have been rarely applied in underwater vehicles. The few existing approaches are focused onCodina, Gabriel Oliver very particular applications and require important amounts of computational resources, since they optimize the coordinates of the external landmarks and the vehicle trajectory, all together. This paper presents a simplified and fast general approach for stereo graph-SLAM, which optimizes the vehicle trajectory, treating the features out of the graph. Experiments with robots in aquatic environments show how the localization approach is effective underwater, online at 10 fps, and with very limited errors. The implementation has been uploaded to a public repository, being available for the whole scientific community.
Stereo Graph-SLAM for Autonomous Underwater Vehicles
Advs in Intelligent Syst., Computing
03.09.2015
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Visual SLAM for Autonomous Ground Vehicles
Tema Archiv | 2011
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