Appearance-based odometry and mapping with feature descriptors for underwater robots
Autor(a) principal: | |
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Data de Publicação: | 2009 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da FURG (RI FURG) |
Texto Completo: | http://repositorio.furg.br/handle/1/4806 |
Resumo: | The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of non-standard locomotion robotic methods. In this context, this paper proposes an approach to visual odometry and mapping of underwater vehicles. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer vision for visual odometry, extracting landmarks in underwater image sequences and ii) the development of topological maps for localization and navigation. The integration of such systems will allow visual odometry, localization and mapping of the environment. A set of tests with real robots was accomplished, regarding online and performance issues. The results reveals an accuracy and robust approach to several underwater conditions, as illumination and noise, leading to a promissory and original visual odometry and mapping technique. |
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Appearance-based odometry and mapping with feature descriptors for underwater robotsRoboticsComputer visionUnderwater vehiclesTopological mapsSelf-localization and mappingThe use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of non-standard locomotion robotic methods. In this context, this paper proposes an approach to visual odometry and mapping of underwater vehicles. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer vision for visual odometry, extracting landmarks in underwater image sequences and ii) the development of topological maps for localization and navigation. The integration of such systems will allow visual odometry, localization and mapping of the environment. A set of tests with real robots was accomplished, regarding online and performance issues. The results reveals an accuracy and robust approach to several underwater conditions, as illumination and noise, leading to a promissory and original visual odometry and mapping technique.2015-04-28T19:42:37Z2015-04-28T19:42:37Z2009info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfBOTELHO, Silvia Silva da Costa, et al. Appearance-based odometry and mapping with feature descriptors for underwater robots. Journal of the Brazilian Computer Society, v. 15, n. 3, p. 47-54, 2009. Disponível em: <http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300005&lng=en&nrm=iso&tlng=en>. Acesso em: 04 abr. 2015.0104-6500http://repositorio.furg.br/handle/1/480610.1007/BF03194505engBotelho, Silvia Silva da CostaDrews Junior, Paulo Lilles JorgeFigueiredo, Mônica da SilvaRocha, Celina Haffele daOliveira, Gabriel Leivasinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da FURG (RI FURG)instname:Universidade Federal do Rio Grande (FURG)instacron:FURG2015-04-28T19:42:37Zoai:repositorio.furg.br:1/4806Repositório InstitucionalPUBhttps://repositorio.furg.br/oai/request || http://200.19.254.174/oai/requestopendoar:2015-04-28T19:42:37Repositório Institucional da FURG (RI FURG) - Universidade Federal do Rio Grande (FURG)false |
dc.title.none.fl_str_mv |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
title |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
spellingShingle |
Appearance-based odometry and mapping with feature descriptors for underwater robots Botelho, Silvia Silva da Costa Robotics Computer vision Underwater vehicles Topological maps Self-localization and mapping |
title_short |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
title_full |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
title_fullStr |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
title_full_unstemmed |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
title_sort |
Appearance-based odometry and mapping with feature descriptors for underwater robots |
author |
Botelho, Silvia Silva da Costa |
author_facet |
Botelho, Silvia Silva da Costa Drews Junior, Paulo Lilles Jorge Figueiredo, Mônica da Silva Rocha, Celina Haffele da Oliveira, Gabriel Leivas |
author_role |
author |
author2 |
Drews Junior, Paulo Lilles Jorge Figueiredo, Mônica da Silva Rocha, Celina Haffele da Oliveira, Gabriel Leivas |
author2_role |
author author author author |
dc.contributor.author.fl_str_mv |
Botelho, Silvia Silva da Costa Drews Junior, Paulo Lilles Jorge Figueiredo, Mônica da Silva Rocha, Celina Haffele da Oliveira, Gabriel Leivas |
dc.subject.por.fl_str_mv |
Robotics Computer vision Underwater vehicles Topological maps Self-localization and mapping |
topic |
Robotics Computer vision Underwater vehicles Topological maps Self-localization and mapping |
description |
The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of non-standard locomotion robotic methods. In this context, this paper proposes an approach to visual odometry and mapping of underwater vehicles. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer vision for visual odometry, extracting landmarks in underwater image sequences and ii) the development of topological maps for localization and navigation. The integration of such systems will allow visual odometry, localization and mapping of the environment. A set of tests with real robots was accomplished, regarding online and performance issues. The results reveals an accuracy and robust approach to several underwater conditions, as illumination and noise, leading to a promissory and original visual odometry and mapping technique. |
publishDate |
2009 |
dc.date.none.fl_str_mv |
2009 2015-04-28T19:42:37Z 2015-04-28T19:42:37Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
BOTELHO, Silvia Silva da Costa, et al. Appearance-based odometry and mapping with feature descriptors for underwater robots. Journal of the Brazilian Computer Society, v. 15, n. 3, p. 47-54, 2009. Disponível em: <http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300005&lng=en&nrm=iso&tlng=en>. Acesso em: 04 abr. 2015. 0104-6500 http://repositorio.furg.br/handle/1/4806 10.1007/BF03194505 |
identifier_str_mv |
BOTELHO, Silvia Silva da Costa, et al. Appearance-based odometry and mapping with feature descriptors for underwater robots. Journal of the Brazilian Computer Society, v. 15, n. 3, p. 47-54, 2009. Disponível em: <http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300005&lng=en&nrm=iso&tlng=en>. Acesso em: 04 abr. 2015. 0104-6500 10.1007/BF03194505 |
url |
http://repositorio.furg.br/handle/1/4806 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Institucional da FURG (RI FURG) instname:Universidade Federal do Rio Grande (FURG) instacron:FURG |
instname_str |
Universidade Federal do Rio Grande (FURG) |
instacron_str |
FURG |
institution |
FURG |
reponame_str |
Repositório Institucional da FURG (RI FURG) |
collection |
Repositório Institucional da FURG (RI FURG) |
repository.name.fl_str_mv |
Repositório Institucional da FURG (RI FURG) - Universidade Federal do Rio Grande (FURG) |
repository.mail.fl_str_mv |
|
_version_ |
1807384370067013632 |