DUGiDocsVisual SLAM for 3D large-scale seabed acquisition employing underwater vehicles
dc.contributor.author
dc.date.accessioned
2010-06-04T07:39:15Z
dc.date.available
2010-05-03T15:16:04Z
2010-06-04T07:39:15Z
dc.date.issued
2008
dc.identifier.citation
Salvi, J., Petillot, Y., i Batlle, E. (2008). Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2008 : IROS 2008, 1011-1016. Recuperat 04 juny 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4650627
dc.identifier.isbn
978-1-4244-2057-5
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dc.description.abstract
This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed
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application/pdf
dc.language.iso
eng
dc.publisher
IEEE
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2008.4650627
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© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2008 : IROS 2008, 2008, p. 1011-1016
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.subject
dc.title
Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi