Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| ISBN (Electronic) | 9781538616543 |
| DOIs | |
| Publication status | Published - 4 Dec 2018 |
| Event | 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan Duration: 28 May 2018 → 31 May 2018 |
Conference
| Conference | 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 |
|---|---|
| Country | Japan |
| City | Kobe |
| Period | 28/05/18 → 31/05/18 |
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Monocular ORB-SLAM application in underwater scenarios. / Hidalgo, Franco; Kahlefendt, Chris; Braunl, Thomas.
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. IEEE, Institute of Electrical and Electronics Engineers, 2018. 8559435.Research output: Chapter in Book/Conference paper › Conference paper
TY - GEN
T1 - Monocular ORB-SLAM application in underwater scenarios
AU - Hidalgo, Franco
AU - Kahlefendt, Chris
AU - Braunl, Thomas
PY - 2018/12/4
Y1 - 2018/12/4
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85060305049&partnerID=8YFLogxK
U2 - 10.1109/OCEANSKOBE.2018.8559435
DO - 10.1109/OCEANSKOBE.2018.8559435
M3 - Conference paper
BT - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PB - IEEE, Institute of Electrical and Electronics Engineers
ER -