Simultaneous localization and mapping in underwater robots

Franco Hidalgo Herencia

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

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