Simultaneous localization and mapping in underwater robots

Franco Hidalgo Herencia

doi:10.26182/5c944ec20af50

Simultaneous localization and mapping in underwater robots

Franco Hidalgo Herencia

School of Engineering

Research output: Thesis › Doctoral Thesis

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Abstract

In this dissertation, we aim to extend the development of underwater robot technologies by implementing robotics vehicles and applying Simultaneous Localization and Mapping (SLAM) approaches towards autonomous navigation. Firstly, we present the implementation of a Remotely Operated Vehicle (ROV) and a robot development framework used to upgrade two underwater robots. We then review SLAM algorithms in underwater environments and focus on visual SLAM based on monocular cameras. Finally, we apply a feature detector and graph optimization SLAM algorithm and present the results and challenges for its application.

Original language	English
Qualification	Doctor of Philosophy
Awarding Institution	The University of Western Australia
Supervisors/Advisors	Braunl, Thomas, Supervisor Boeing, Adrian, Supervisor
Award date	25 Feb 2019
DOIs	https://doi.org/10.26182/5c944ec20af50
Publication status	Unpublished - 2019

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THESIS - DOCTOR OF PHILOSOPHY - HILDAGO HERENCIA Franco - 2019
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Cite this

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title = "Simultaneous localization and mapping in underwater robots",

abstract = "In this dissertation, we aim to extend the development of underwater robot technologies by implementing robotics vehicles and applying Simultaneous Localization and Mapping (SLAM) approaches towards autonomous navigation. Firstly, we present the implementation of a Remotely Operated Vehicle (ROV) and a robot development framework used to upgrade two underwater robots. We then review SLAM algorithms in underwater environments and focus on visual SLAM based on monocular cameras. Finally, we apply a feature detector and graph optimization SLAM algorithm and present the results and challenges for its application.",

keywords = "ROV, SLAM, ORBSLAM, Visual SLAM, Monocular, Underwater robots",

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AB - In this dissertation, we aim to extend the development of underwater robot technologies by implementing robotics vehicles and applying Simultaneous Localization and Mapping (SLAM) approaches towards autonomous navigation. Firstly, we present the implementation of a Remotely Operated Vehicle (ROV) and a robot development framework used to upgrade two underwater robots. We then review SLAM algorithms in underwater environments and focus on visual SLAM based on monocular cameras. Finally, we apply a feature detector and graph optimization SLAM algorithm and present the results and challenges for its application.

KW - ROV

KW - SLAM

KW - ORBSLAM

KW - Visual SLAM

KW - Monocular

KW - Underwater robots

U2 - 10.26182/5c944ec20af50

DO - 10.26182/5c944ec20af50

M3 - Doctoral Thesis

ER -

Simultaneous localization and mapping in underwater robots

Abstract

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