Challenges in Underwater Visual Navigation and SLAM.

Köser, Kevin and Frese, Udo (2019) Challenges in Underwater Visual Navigation and SLAM. In: AI Technology for Underwater Robots. , ed. by Kirchner, Frank, Straube, Sirko, Kühn, Daniel and Hoyer, Nina. Intelligent Systems, Control and Automation: Science and Engineering , 96 . Springer, Cham, Switzerland, pp. 125-135. ISBN 978-3-030-30682-3 DOI 10.1007/978-3-030-30683-0_11.

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Abstract

This paper addresses visual navigation of autonomous underwater vehicles (AUVs) with and without a given map, where the latter is called Simultaneous Localization and Mapping (SLAM). We summarize the challenges and opportunities in underwater environments that make visual navigation different from land navigation and also briefly survey the current state-of-the-art in this area. Then as a position paper we argue why many of these challenges could be met by a proper modeling of uncertainties in the SLAM representation. This would in particular allow the SLAM algorithm to thoroughly handle the ambiguity between “I see the same feature again.”, “I see a different but similar looking feature.” and “The environment has changed and the feature moved.”.

Document Type: Book chapter
Keywords: Visual navigation, autonomous underwater vehicles (AUVs), SLAM, AUV Anton
Research affiliation: OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems
OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems > DeepSea Monitoring
DOI etc.: 10.1007/978-3-030-30683-0_11
ISSN: 2213-8986
Date Deposited: 28 Oct 2019 13:36
Last Modified: 24 Feb 2020 13:45
URI: http://oceanrep.geomar.de/id/eprint/48103

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