Selective image registration for efficient visual SLAM on planar surface structures in underwater environment

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This paper presents a computationally efficient approach that can be applied to visual simultaneous localization and mapping (SLAM) for the autonomous inspection of underwater structures using monocular vision. A selective image registration scheme consisting of key-frame selection and key-pair selection is proposed to effectively use visual features that may not be evenly distributed on the surface of underwater structures. The computational cost of the visual SLAM algorithm can be substantially reduced using only potentially effective images and image pairs by applying the proposed image registration scheme. The performance of the proposed approach is demonstrated on two different experimental datasets obtained using autonomous underwater vehicles.
Publisher
SPRINGER
Issue Date
2019-10
Language
English
Article Type
Article
Citation

AUTONOMOUS ROBOTS, v.43, no.7, pp.1665 - 1679

ISSN
0929-5593
DOI
10.1007/s10514-018-09824-1
URI
http://hdl.handle.net/10203/267497
Appears in Collection
ME-Journal Papers(저널논문)
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