High Definition, Inexpensive, Underwater Mapping

Bharat Joshi, Marios Xanthidis, Sharmin Rahman, Ioannis Rekleitis
In IEEE International Conference on Robotics and Automation (ICRA) 2022.

Abstract

In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing stunning results even under the challenging conditions of the underwater domain. The GoPro 9 camera provides high definition video in synchronization with an Inertial Measurement Unit (IMU) data stream encoded in a single mp4 file. The visual inertial SLAM framework is augmented to adjust the map after each loop closure. Data collected at an artificial wreck of the coast of South Carolina and in caverns and caves in Florida demonstrate the robustness of the proposed approach in a variety of conditions.

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BibTeX

@inproceedings{JoshiICRA2022,
  author       = {Bharat Joshi and Marios Xanthidis and Sharmin Rahman and
		 Ioannis Rekleitis},
  title        = {High Definition, Inexpensive, Underwater Mapping},
  booktitle    = {IEEE International Conference on Robotics and Automation
		 (ICRA)},
  year	       = {2022},
  pages        = {1113-1121},
  address      = {Philadelphia, PA, USA}
}

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Wed Mar 27 06:21:04 EDT 2024