Towards Robust Image Registration for Underwater Visual SLAM

Antoni Burguera, Francisco Bonin-Font, Gabriel Oliver

2014

Abstract

This paper proposes a simple and practical approach to perform underwater visual SLAM. The proposal improves the traditional EKF-SLAM by adopting a Trajectory-based schema that reduces the computational requirements. Linearization errors are also reduced by means of an IEKF. One of the most important parts of the proposed SLAM approach is robust image registration, which is used in the data association step making it possible to close loops reliably. Thanks to that, as shown in the experiments, the presented approach provides accurate pose estimates using both a simulated robot and a real one.

Paper Citation

in Harvard Style

Burguera A., Bonin-Font F. and Oliver G. (2014). Towards Robust Image Registration for Underwater Visual SLAM . In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014) ISBN 978-989-758-009-3, pages 539-544. DOI: 10.5220/0004682005390544

in Bibtex Style

@conference{visapp14,
author={Antoni Burguera and Francisco Bonin-Font and Gabriel Oliver},
title={Towards Robust Image Registration for Underwater Visual SLAM},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)},
year={2014},
pages={539-544},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004682005390544},
isbn={978-989-758-009-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)
TI - Towards Robust Image Registration for Underwater Visual SLAM
SN - 978-989-758-009-3
AU - Burguera A.
AU - Bonin-Font F.
AU - Oliver G.
PY - 2014
SP - 539
EP - 544
DO - 10.5220/0004682005390544