Title :
IMU-aided stereo visual odometry for ground-tracking AUV applications
Author :
Hildebrandt, Marc ; Kirchner, Frank
Author_Institution :
Underwater Robot. Dept., DFKI RIC Bremen, Bremen, Germany
Abstract :
This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the performance in respect to precision and computational cost. As a conclusion, future extensions and applications are briefly discussed.
Keywords :
SLAM (robots); distance measurement; navigation; remotely operated vehicles; stereo image processing; tracking; underwater vehicles; AUV navigation; IMU aided stereo visual odometry; SLAM system; ground tracking AUV application; odometry retrieval; stereo visual inertial approach; Cameras; Estimation; Feature extraction; Iterative closest point algorithm; Sensors; Vehicles; Visualization;
Conference_Titel :
OCEANS 2010 IEEE - Sydney
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-5221-7
Electronic_ISBN :
978-1-4244-5222-4
DOI :
10.1109/OCEANSSYD.2010.5603681
