Selective visual odometry for accurate AUV localization

Fabio Bellavia, Fabio Bellavia, Marco Fanfani, Carlo Colombo

Risultato della ricerca: Articlepeer review

18 Citazioni (Scopus)


In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so that camera movements are estimated with high accuracy even for long paths. Furthermore, in order to limit the drift error, camera pose estimation is referred to the last keyframe, selected by analyzing the feature temporal flow. The proposed system was tested on the KITTI evaluation framework and on the New Tsukuba stereo dataset to assess its effectiveness on long tracks and different illumination conditions. Results of a live archaeological campaign in the Mediterranean Sea, on an AUV equipped with a stereo camera pair, show that our solution can effectively work in underwater environments.
Lingua originaleEnglish
pagine (da-a)133-143
Numero di pagine11
RivistaAutonomous Robots
Stato di pubblicazionePublished - 2017

All Science Journal Classification (ASJC) codes

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