596 research outputs found
Multi-Robot Exploration of Underwater Structures
This paper discusses a novel approach for the exploration of an underwater structure. A team of robots splits into two roles: certain robots approach the structure collecting detailed information (proximal observers) while the rest (distal observers) keep a distance providing an overview of the mission and assist in the localization of the proximal observers via a Cooperative Localization framework. Proximal observers utilize a novel robust switching model-based/visual-inertial odometry to overcome vision-based localization failures. Exploration strategies for the proximal and the distal observer are discussed.publishedVersio
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
DOES: A Deep Learning-based approach to estimate roll and pitch at sea
The use of Attitude and Heading Reference Systems (AHRS) for orientation estimation is now common practice in a wide range of applications, e.g., robotics and human motion tracking, aerial vehicles and aerospace, gaming and virtual reality, indoor pedestrian navigation and maritime navigation. The integration of the high-rate measurements can provide very accurate estimates, but these can suffer from errors accumulation due to the sensors drift over longer time scales. To overcome this issue, inertial sensors are typically combined with additional sensors and techniques. As an example, camera-based solutions have drawn a large attention by the community, thanks to their low-costs and easy hardware setup; moreover, impressive results have been demonstrated in the context of Deep Learning. This work presents the preliminary results obtained by DOES, a supportive Deep Learning method specifically designed for maritime navigation, which aims at improving the roll and pitch estimations obtained by common AHRS. DOES recovers these estimations through the analysis of the frames acquired by a low-cost camera pointing the horizon at sea. The training has been performed on the novel ROPIS dataset, presented in the context of this work, acquired using the FrameWO application developed for the scope. Promising results encourage to test other network backbones and to further expand the dataset, improving the accuracy of the results and the range of applications of the method as a valid support to visual-based odometry techniques
Real-time Monocular Visual Odometry for Turbid and Dynamic Underwater Environments
In the context of robotic underwater operations, the visual degradations
induced by the medium properties make difficult the exclusive use of cameras
for localization purpose. Hence, most localization methods are based on
expensive navigational sensors associated with acoustic positioning. On the
other hand, visual odometry and visual SLAM have been exhaustively studied for
aerial or terrestrial applications, but state-of-the-art algorithms fail
underwater. In this paper we tackle the problem of using a simple low-cost
camera for underwater localization and propose a new monocular visual odometry
method dedicated to the underwater environment. We evaluate different tracking
methods and show that optical flow based tracking is more suited to underwater
images than classical approaches based on descriptors. We also propose a
keyframe-based visual odometry approach highly relying on nonlinear
optimization. The proposed algorithm has been assessed on both simulated and
real underwater datasets and outperforms state-of-the-art visual SLAM methods
under many of the most challenging conditions. The main application of this
work is the localization of Remotely Operated Vehicles (ROVs) used for
underwater archaeological missions but the developed system can be used in any
other applications as long as visual information is available
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