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A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures

Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km 7.5, 07122 Palma, Illes Balears, Spain
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J. Mar. Sci. Eng. 2019, 7(8), 278; https://doi.org/10.3390/jmse7080278
Received: 9 July 2019 / Revised: 12 August 2019 / Accepted: 14 August 2019 / Published: 17 August 2019
This paper presents a multi-session monocular Simultaneous Localization and Mapping (SLAM) approach focused on underwater environments. The system is composed of three main blocks: a visual odometer, a loop detector, and an optimizer. Single session loop closings are found by means of feature matching and Random Sample Consensus (RANSAC) within a search region. Multi-session loop closings are found by comparing hash-based global image signatures. The optimizer refines the trajectories and joins the different maps. Map joining preserves the trajectory structure by adding a single link between the joined sessions, making it possible to aggregate or disaggregate sessions whenever is necessary. All the optimization processes can be delayed until a certain number of loops has been found in order to reduce the computational cost. Experiments conducted in real subsea scenarios show the quality and robustness of this proposal. View Full-Text
Keywords: visual SLAM; multi-session robot; posidonia oceanica visual SLAM; multi-session robot; posidonia oceanica
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Burguera Burguera, A.; Bonin-Font, F. A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures. J. Mar. Sci. Eng. 2019, 7, 278.

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