用于水下机器人检测的实时视觉SLAM

2014 Oceans - St. John's Pub Date : 2014-09-01 DOI:10.1109/OCEANS.2014.7003097

Magda Meireles, Renato Lourenço, A. Dias, J. Almeida, H. Silva, A. Martins

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引用次数: 17

摘要

本文研究了一种基于自然地标的实时同步定位和绘图方法的水下视觉导航系统的开发。我们在一个室内储罐中测试了我们提出的方法，在那里进行了现场实验，以获得3D车辆(VIDEORAY Pro3 ROV)的轨迹，并使用外部立体视觉“地面真相”系统验证了结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Real time visual SLAM for underwater robotic inspection

This paper addresses the development of an underwater visual navigation system for a Remotely Operated Vehicle (ROV) based on Real-Time Simultaneous Localization and Mapping method using natural landmarks. Our proposed approach was tested in an indoor tank, where field experiments were performed to obtain 3D vehicle (VIDEORAY Pro3 ROV) trajectory, and results validated using an external stereo vision “ground-truth” system.

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2014 Oceans - St. John's

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