A Node-Based Method for SLAM Navigation in Self-Similar Underwater Environments: A Case Study
AbstractThis work deals with the development of a node-based monocular visual methodology for autonomous vehicle navigation which has the goal of exploring unknown regions of the sea bottom with a posterior safe revisiting of them. The work accentuates characteristics of the seabed like self-similarity and backscattering. In a stepwise fashion, a visual guidance system constructs a shape similar to a narrow corridor by optimally creating a heading function on the basis of keypoints threads, which ensures future revisits. The corridor is composed of nodes and paths in between. Each path is composed of a visual-odometry-based trail which is generated in feature-poor environments, in combination with a feature-based trail which emerges in feature-rich regions. A probabilistic analysis of the uncertainties and their impact in the success rate on loop closings is carried out. We work out two case studies, the first employing an ad-hoc benchmark and the second a series of experiments in the real world. From here qualitative conclusions can be drawn out that enable us to anticipate potential applications of the approach in the field of autonomous navigation underwater. View Full-Text
Externally hosted supplementary file 1
Description: dataset and code repository
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Trabes, E.; Jordan, M.A. A Node-Based Method for SLAM Navigation in Self-Similar Underwater Environments: A Case Study. Robotics 2017, 6, 29.
Trabes E, Jordan MA. A Node-Based Method for SLAM Navigation in Self-Similar Underwater Environments: A Case Study. Robotics. 2017; 6(4):29.Chicago/Turabian Style
Trabes, Emanuel; Jordan, Mario A. 2017. "A Node-Based Method for SLAM Navigation in Self-Similar Underwater Environments: A Case Study." Robotics 6, no. 4: 29.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.