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2016 | OriginalPaper | Chapter

Stereo Graph-SLAM for Autonomous Underwater Vehicles

Authors : Pep Lluis Negre Carrasco, Francisco Bonin-Font, Gabriel Oliver Codina

Published in: Intelligent Autonomous Systems 13

Publisher: Springer International Publishing

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Abstract

The increasing use of Autonomous Underwater Vehicles (AUV) in industrial or scientific applications makes the vehicle localization one of the challenging questions to consider for the mission success. Graph-SLAM has emerged as a promising approach in land vehicles; however, due to the complexity of the aquatic media, these systems have been rarely applied in underwater vehicles. The few existing approaches are focused on very particular applications and require important amounts of computational resources, since they optimize the coordinates of the external landmarks and the vehicle trajectory, all together. This paper presents a simplified and fast general approach for stereo graph-SLAM, which optimizes the vehicle trajectory, treating the features out of the graph. Experiments with robots in aquatic environments show how the localization approach is effective underwater, online at 10 fps, and with very limited errors. The implementation has been uploaded to a public repository, being available for the whole scientific community.

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previous chapter A Generalized Extended Kalman Filter Implementation for the Robot Operating System
next chapter Robust Onboard Visual SLAM for Autonomous MAVs
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Metadata
Title
Stereo Graph-SLAM for Autonomous Underwater Vehicles
Authors
Pep Lluis Negre Carrasco
Francisco Bonin-Font
Gabriel Oliver Codina
Copyright Year
2016
Book
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_26

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