Simultaneous localization and mapping in underwater robots

Franco Hidalgo Herencia

Research output: ThesisDoctoral Thesis

44 Downloads (Pure)

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 languageEnglish
QualificationDoctor of Philosophy
Awarding Institution
  • The University of Western Australia
Award date25 Feb 2019
DOIs
Publication statusUnpublished - 2019

Fingerprint

Robots
Remotely operated vehicles
Navigation
Robotics
Cameras
Detectors

Cite this

@phdthesis{c10e4eb85e61499e9e40131638f5d8d3,
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",
author = "{Hidalgo Herencia}, Franco",
year = "2019",
doi = "10.26182/5c944ec20af50",
language = "English",
school = "The University of Western Australia",

}

Hidalgo Herencia, F 2019, 'Simultaneous localization and mapping in underwater robots', Doctor of Philosophy, The University of Western Australia. https://doi.org/10.26182/5c944ec20af50

Simultaneous localization and mapping in underwater robots. / Hidalgo Herencia, Franco.

2019.

Research output: ThesisDoctoral Thesis

TY - THES

T1 - Simultaneous localization and mapping in underwater robots

AU - Hidalgo Herencia, Franco

PY - 2019

Y1 - 2019

N2 - 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.

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 -