Underwater visual-inertial odometer based on artificial markers and natural feature points

Binglu Wang; Yimei Liu; Hao Fan

doi:10.1117/12.2686369

10 August 2023 Underwater visual-inertial odometer based on artificial markers and natural feature points

Binglu Wang, Yimei Liu, Hao Fan

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127592E (2023) https://doi.org/10.1117/12.2686369
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

In recent years, Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) has become a prevalent technology for 6-DOF state estimation. Current VI-SLAM approaches achieve advanced localization accuracy in the air while becoming brittle in the underwater environment due to broad untextured areas, inadequate illumination, and limited visibility. Additionally, existing underwater visual-inertial datasets were usually collected in open seas, making it challenging to obtain ground truth for the tracking of the robot, which limits the evaluation and development of VI-SLAM algorithms for underwater environments. To address these challenges, we proposed TagVins, a VIO system that integrates artificial features with natural features to construct reliable frame associations. Moreover, an efficient visual-inertial fusion algorithm based on the extended Kalman filter is presented. And a new underwater visual-inertial dataset, with groundtruth trajectories obtained via rigid structure and reliable localizations in the air, is presented to facilitate the further development of VI-SLAM algorithms in the underwater environment. Our evaluation results on the proposed dataset demonstrate that TagVins outperforms existing state-of-the-art VI-SLAM algorithms.

Citation Download Citation

Binglu Wang, Yimei Liu, and Hao Fan "Underwater visual-inertial odometer based on artificial markers and natural feature points", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127592E (10 August 2023); https://doi.org/10.1117/12.2686369

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
6 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Visualization

Cameras

Information visualization

Imaging systems

3D modeling

Detection and tracking algorithms

Algorithm development

Show All Keywords

Keywords/Phrases

Search In:

Publication Years