DocumentCode
2806551
Title
Underwater Feature Based Visual Odometry - Experiment and Analysis
Author
Gong, Peiliang ; Zhang, Donglai
Author_Institution
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
fYear
2011
fDate
21-23 Nov. 2011
Firstpage
81
Lastpage
85
Abstract
Visual odometry is an effective method to localize the mobile robotic vehicles. This paper presents GLS and RMKF based visual odometry for a UUV platform, to realize local-area localization or navigation, and a certain underwater experimental results are given to compare and show respective characteristics of the two algorithms.
Keywords
Kalman filters; autonomous underwater vehicles; least squares approximations; mobile robots; navigation; robot vision; GLS; RMKF; UUV platform; local-area localization; mobile robotic vehicles; navigation; underwater feature based visual odometry; Cameras; Covariance matrix; Filtering theory; Robots; Trajectory; Vehicles; Visualization; GLS; RMKF; UUV; visual odometry;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location
Kaohsiung
Print_ISBN
978-1-4577-1881-6
Type
conf
DOI
10.1109/RVSP.2011.14
Filename
6114910
Link To Document