http://www.cnr.it/ontology/cnr/individuo/prodotto/ID62342
Real-time optical SLAM-based mosaicking for unmanned underwater vehicles (Articolo in rivista)
- Type
- Label
- Real-time optical SLAM-based mosaicking for unmanned underwater vehicles (Articolo in rivista) (literal)
- Anno
- 2012-01-01T00:00:00+01:00 (literal)
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi
- 10.1007/s11370-011-0103-x (literal)
- Alternative label
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
- F. Ferreira; G. Veruggio; M. Caccia; G. Bruzzone (literal)
- Pagina inizio
- Pagina fine
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroVolume
- Rivista
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
- CNR-IEIIT
CNR-ISSIA (literal)
- Titolo
- Real-time optical SLAM-based mosaicking for unmanned underwater vehicles (literal)
- Abstract
- This article discusses the possibility of building
in real-time a mosaic of the seafloor relying on a simultaneous
localization and mapping (SLAM) framework. The
goal is to provide an unmanned underwater vehicle with a
relatively rough visual map of the seafloor to support basic
navigation and context awareness. To achieve that goal, an
accurate estimation of the location of the visual landmarks
and, in particular, the correct data association when a visual
landmark is re-visited by the vehicle are the crucial points.
Instead of using a global mosaic, thiswork uses the combination
of a set of local mosaics constructed in the vicinity of the
SLAM visual landmarks. The contributions of this article are
mainly the use of SURF features, the local mosaics approach
and the real-time capability. The use of SURF features allows
eliminating false positives in the data association of SLAM
visual landmarks. The local mosaics approach is an effective
way of correcting the effects of the drift on the mosaic in
real time. The main contribution is the real-time capability
as it will be seen. The algorithm was tested using a batch
of experimental data in typical operating conditions and the
results prove the effectiveness of the approach. (literal)
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