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 |
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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 |
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Country | Japan |
City | Kobe |
Period | 28/05/18 → 31/05/18 |