Warning: session_start() [function.session-start]: open(/var/lib/php5/sess_1032873864f66cc095556f2b5db19228, O_RDWR) failed: Read-only file system (30) in /dades/dugi/start_cache.php on line 4

Warning: session_start() [function.session-start]: Cannot send session cookie - headers already sent by (output started at /dades/dugi/start_cache.php:4) in /dades/dugi/start_cache.php on line 4

Warning: session_start() [function.session-start]: Cannot send session cache limiter - headers already sent (output started at /dades/dugi/start_cache.php:4) in /dades/dugi/start_cache.php on line 4

Warning: Cannot modify header information - headers already sent by (output started at /dades/dugi/start_cache.php:4) in /dades/dugi/start_cache.php on line 7

Warning: error_log(/dades/dugi/log//querys.log) [function.error-log]: failed to open stream: Read-only file system in /dades/dugi/lib/log/log.php on line 32
DUGi: Ítem | Recercat - Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

Ítem


Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

IEEE

Autor: Salvi, Joaquim
Petillot, Yvan R.
Batlle, Elisabet
Resum: This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed
Accés al document: http://hdl.handle.net/2072/63215
Llenguatge: eng
Editor: IEEE
Drets: Tots els drets reservats
Matèria: Imatges -- Processament
Kalman, Filtre de
Robots mòbils
Robots submarins
Vehicles submergibles
Image processing
Kalman filtering G
Mobile robots
Submersibles
Underwater robots
Títol: Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles
Tipus: info:eu-repo/semantics/article
Repositori: Recercat

Matèries


Warning: error_log(/dades/dugi/log//dugi.log) [function.error-log]: failed to open stream: Read-only file system in /dades/dugi/lib/log/log.php on line 32

Autors


Warning: error_log(/dades/dugi/log//dugi.log) [function.error-log]: failed to open stream: Read-only file system in /dades/dugi/lib/log/log.php on line 32


Warning: fopen(/dades/dugi/cache/81eba9c07182dd09e95b784dbe5361b6_.html) [function.fopen]: failed to open stream: Read-only file system in /dades/dugi/end_cache.php on line 2

Warning: Unknown: open(/var/lib/php5/sess_1032873864f66cc095556f2b5db19228, O_RDWR) failed: Read-only file system (30) in Unknown on line 0

Warning: Unknown: Failed to write session data (files). Please verify that the current setting of session.save_path is correct (/var/lib/php5) in Unknown on line 0