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Article

Evaluation of Several Feature Detectors/Extractors on Underwater Images towards vSLAM

by 1,* and 2,†
1
Facultad de Ingeniería, Universidad San Ignacio de Loyola, La Molina, Lima 15024, Peru
2
Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA 6009, Australia
*
Author to whom correspondence should be addressed.
Review, Editing & Supervision.
Sensors 2020, 20(15), 4343; https://doi.org/10.3390/s20154343
Received: 19 June 2020 / Revised: 25 July 2020 / Accepted: 30 July 2020 / Published: 4 August 2020
(This article belongs to the Special Issue Intelligence and Autonomy for Underwater Robotic Vehicles)
Modern visual SLAM (vSLAM) algorithms take advantage of computer vision developments in image processing and in interest point detectors to create maps and trajectories from camera images. Different feature detectors and extractors have been evaluated for this purpose in air and ground environments, but not extensively for underwater scenarios. In this paper (I) we characterize underwater images where light and suspended particles alter considerably the images captured, (II) evaluate the performance of common interest points detectors and descriptors in a variety of underwater scenes and conditions towards vSLAM in terms of the number of features matched in subsequent video frames, the precision of the descriptors and the processing time. This research justifies the usage of feature detectors in vSLAM for underwater scenarios and present its challenges and limitations. View Full-Text
Keywords: vSLAM; detector; descriptor; underwater video; monocular underwater; underwater robots; SIFT; SURF; ORB; AKAZE; BRISK vSLAM; detector; descriptor; underwater video; monocular underwater; underwater robots; SIFT; SURF; ORB; AKAZE; BRISK
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MDPI and ACS Style

Hidalgo, F.; Bräunl, T. Evaluation of Several Feature Detectors/Extractors on Underwater Images towards vSLAM. Sensors 2020, 20, 4343. https://doi.org/10.3390/s20154343

AMA Style

Hidalgo F, Bräunl T. Evaluation of Several Feature Detectors/Extractors on Underwater Images towards vSLAM. Sensors. 2020; 20(15):4343. https://doi.org/10.3390/s20154343

Chicago/Turabian Style

Hidalgo, Franco, and Thomas Bräunl. 2020. "Evaluation of Several Feature Detectors/Extractors on Underwater Images towards vSLAM" Sensors 20, no. 15: 4343. https://doi.org/10.3390/s20154343

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