Abstract
| Original language | English |
|---|---|
| Qualification | Doctor of Philosophy |
| Awarding Institution |
|
| Award date | 25 Feb 2019 |
| DOIs | |
| Publication status | Unpublished - 2019 |
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Simultaneous localization and mapping in underwater robots. / Hidalgo Herencia, Franco.
2019.Research output: Thesis › Doctoral 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 -