Loading…

Visual odometry in local underwater navigation problems

The work processes of the ORB-SLAM algorithm are presented. The results of experimental studies on temporal comparisons of the operation of the algorithm with different parameters and cameras are presented. The necessity of forming a visual odometry (VO) system as a local navigation of remote-contro...

Full description

Saved in:
Bibliographic Details
Published in:Journal of physics. Conference series 2021-11, Vol.2091 (1), p.12053
Main Authors: Azhmukhamedov, I M, Tamkov, P I, Svishchev, N D, Rybakov, A V
Format: Article
Language:English
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The work processes of the ORB-SLAM algorithm are presented. The results of experimental studies on temporal comparisons of the operation of the algorithm with different parameters and cameras are presented. The necessity of forming a visual odometry (VO) system as a local navigation of remote-controlled and autonomous underwater robots has been substantiated. The two most suitable odometry methods in the underwater environment are described, such as their advantages and disadvantages. The work processes of the ORB-SLAM algorithm are presented. The results of experimental studies on temporal comparisons of the operation of the algorithm with different parameters and cameras are presented. The procedure for preparing video data is described: processing a video stream, adjusting camera parameters for calibration. The experiments represent the testing of the ORB-SLAM3 algorithm on a sample of video filmed as part of the ecological monitoring of the Caspian shelf in 2020.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2091/1/012053