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

Cited 4 time in webofscience Cited 0 time in scopus
  • Hit : 164
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorHong, Seonghunko
dc.contributor.authorKim, Jinwhanko
dc.date.accessioned2019-09-17T06:20:10Z-
dc.date.available2019-09-17T06:20:10Z-
dc.date.created2019-09-17-
dc.date.issued2019-10-
dc.identifier.citationAUTONOMOUS ROBOTS, v.43, no.7, pp.1665 - 1679-
dc.identifier.issn0929-5593-
dc.identifier.urihttp://hdl.handle.net/10203/267497-
dc.description.abstractThis 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.-
dc.languageEnglish-
dc.publisherSPRINGER-
dc.titleSelective image registration for efficient visual SLAM on planar surface structures in underwater environment-
dc.typeArticle-
dc.identifier.wosid000482455800003-
dc.identifier.scopusid2-s2.0-85059841175-
dc.type.rimsART-
dc.citation.volume43-
dc.citation.issue7-
dc.citation.beginningpage1665-
dc.citation.endingpage1679-
dc.citation.publicationnameAUTONOMOUS ROBOTS-
dc.identifier.doi10.1007/s10514-018-09824-1-
dc.contributor.localauthorKim, Jinwhan-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorVisual SLAM-
dc.subject.keywordAuthorSelective image registration-
dc.subject.keywordAuthorAutonomous underwater vehicle-
dc.subject.keywordPlusSIMULTANEOUS LOCALIZATION-
dc.subject.keywordPlusNAVIGATION-
dc.subject.keywordPlusINSPECTION-
dc.subject.keywordPlusFEATURES-
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 4 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0