Name
Title | ||
|---|---|---|
Localization Of Auvs Using Depth Information Of Underwater Structures From A Monocular Camera |
Abstract | ||
|---|---|---|
In this paper, we propose a method of AUV localization and mapping using visual measurement of underwater structures. Since the inertial navigation system (INS) of AUV suffers from drift, observing fixed objects can enhance the localization performance. Depth map estimation of underwater structures and tracking of an AUV are complementarily handled in a framework of pose graph optimization. Estimation of absolute scale is resolved by exploiting incremental measurements of inertial sensors. The proposed method is validated by experiments performed in a structured basin environment. |
Year | Venue | Keywords |
|---|---|---|
2016 | 2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | AUV, vision, localization |
Field | DocType | ISSN |
Inertial navigation system,Computer vision,Graph optimization,Computer science,Absolute scale,Monocular camera,Artificial intelligence,Inertial measurement unit,Depth map,Robot,Underwater | Conference | 2325-033X |
Citations | PageRank | References |
1 | 0.45 | 3 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jongdae Jung | 1 | 46 | 8.04 |
| Suyoung Choi | 2 | 1 | 1.13 |
| Hyun-Taek Choi | 3 | 14 | 7.98 |
| Hyun Myung | 4 | 290 | 62.59 |