2026-04-13T07:18:51Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/24942024-05-22T09:47:34Zcom_2072_452955com_2072_2054col_2072_452957

00925njm 22002777a 4500 dc Salvi, Joaquim author Petillot, Yvan R. author Thomas, Stephen author Aulinas Masó, Josep M. author 2008 A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system http://hdl.handle.net/10256/2494 Imatges -- Processament Kalman, Filtre de Robots mòbils Robots submarins Vehicles submergibles Image processing Kalman filtering G Mobile robots Submersibles Underwater robots Visual SLAM for underwater vehicles using video velocity log and natural landmarks