JORDAN Mario Alberto
congresos y reuniones científicas
A multi-stage visual odometry system and failure detection mechanism for a monocular visual SLAM implementation in monotonously textured underwater scenes
JORDAN, MARIO; TRABES, EMANUEL
Workshop; XVI Reunion de Trabajo en Procesamiento de la Informacion y Control; 2015
Facultad de Ciencias Exactas, Físicas y Naturales de la Universidad Nacional de Córdoba y la Universidad Tecnológica Nacional, Facultad Regional Córdoba
A multi stage visual odometry system with a failure detection mechanism is developed to measuremovementandcorrectunreliableestimations inpoorlytexturedunderwaterenvironments.Thesystem has only one camera as the sensor, and is composed of a primary movement estimation based of features presented in the scene and two backup system. The ﬁrst backup is based on phase correlation to estimate the AUV movement. The second backup movement estimation mechanism is based on a high order prediction of the movement using the last good movement estimations. Failure detection mechanism are constructed to detect unreliable measurements in each of the stages and appropriate responses are developed in all cases. A full SLAM implementation is developed and a real case study is presented in which thegoodpropertiesofthesystemareshown.