Monocular ORB-SLAM application in underwater scenarios

Franco Hidalgo, Chris Kahlefendt, Thomas Braunl

Research output: Chapter in Book/Conference paperConference paper

1 Citation (Scopus)

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 languageEnglish
Title of host publication2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISBN (Electronic)9781538616543
DOIs
Publication statusPublished - 4 Dec 2018
Event2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan
Duration: 28 May 201831 May 2018

Conference

Conference2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
CountryJapan
CityKobe
Period28/05/1831/05/18

Fingerprint

supersonic low altitude missile
underwater environment
sensor
Sensors
Visibility
visibility
acoustics
Lighting
Acoustics
Robots
sensors
Water
robots
experiment
Experiments
illuminating
water
augmentation
evaluation
estimates

Cite this

Hidalgo, F., Kahlefendt, C., & Braunl, T. (2018). Monocular ORB-SLAM application in underwater scenarios. In 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 [8559435] IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/OCEANSKOBE.2018.8559435
Hidalgo, Franco ; Kahlefendt, Chris ; Braunl, Thomas. / Monocular ORB-SLAM application in underwater scenarios. 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. IEEE, Institute of Electrical and Electronics Engineers, 2018.
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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.",
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Hidalgo, F, Kahlefendt, C & Braunl, T 2018, Monocular ORB-SLAM application in underwater scenarios. in 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018., 8559435, IEEE, Institute of Electrical and Electronics Engineers, 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018, Kobe, Japan, 28/05/18. https://doi.org/10.1109/OCEANSKOBE.2018.8559435

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 paperConference paper

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T1 - Monocular ORB-SLAM application in underwater scenarios

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AU - Kahlefendt, Chris

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PY - 2018/12/4

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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.

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Hidalgo F, Kahlefendt C, Braunl T. Monocular ORB-SLAM application in underwater scenarios. In 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018. IEEE, Institute of Electrical and Electronics Engineers. 2018. 8559435 https://doi.org/10.1109/OCEANSKOBE.2018.8559435