6533b858fe1ef96bd12b652b
RESEARCH PRODUCT
Selective visual odometry for accurate AUV localization
Carlo ColomboFabio BellaviaMarco Fanfanisubject
0209 industrial biotechnologyComputer scienceVisual odometryComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION02 engineering and technologyKeyframe selectionRANSAC020901 industrial engineering & automationOdometryArtificial Intelligence0202 electrical engineering electronic engineering information engineeringComputer vision14. Life underwaterVisual odometryUnderwaterAUVPoseSettore ING-INF/05 - Sistemi Di Elaborazione Delle InformazioniRANSACSettore INF/01 - InformaticaFeature matchingbusiness.industryProcess (computing)StereoFeature (computer vision)020201 artificial intelligence & image processingArtificial intelligenceUnderwaterbusinessStereo cameradescription
In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so that camera movements are estimated with high accuracy even for long paths. Furthermore, in order to limit the drift error, camera pose estimation is referred to the last keyframe, selected by analyzing the feature temporal flow. The proposed system was tested on the KITTI evaluation framework and on the New Tsukuba stereo dataset to assess its effectiveness on long tracks and different illumination conditions. Results of a live archaeological campaign in the Mediterranean Sea, on an AUV equipped with a stereo camera pair, show that our solution can effectively work in underwater environments.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2015-12-26 | Autonomous Robots |