INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
A CHAINED-NODES-BASED METHOD TO COMPLEMENT SLAM NAVIGATION IN SELF-SIMILAR UNDERWATER ENVIRONMENTS
Autor/es:
TRABES, EMANUEL; JORDAN, MARIO ALBERTO
Lugar:
Ciudad Autónoma de Buenos Aires
Reunión:
Congreso; 25. Congreso Argentino de Control Automático; 2016
Institución organizadora:
Asociación Argentina de Control Automático
Resumen:
This work deals with a node-based monocamera visual system for unmanned vehicle navigation over an extensive rather feature-poor underwater environment with the goal of bridging two nonconnected, well-known SLAM-mapped regions. Both methodology and solution are novel. They comprise an exploration and revisiting phases. The strategy applies intermittently a visual odometry-based guidance on a feature-poor stretch and a subsequent control strategy for loop closing over a, to some degree, feature-rich terrain. A case study developed on a benchmark shows the feasibility of the method.Keywords: SLAM, Vision-based Navigation, AUVs, Subaquatic Environment,Sparse-feature seabottom
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