Real-Time Appearance Based Mapping using Visual Sensor for Unknown Environment

Underwater environment is one of the most challenging areas when considering scene reconstruction and mapping, feature extraction of environment etc. GPS usage is denied in underwater environment and a waterproof lidar is also not a cost-effective solution to map and localize. Lidar-based simultaneo...

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Bibliographic Details
Published in:Journal of physics. Conference series 2022-09, Vol.2335 (1), p.12057
Main Authors: Aravind, Jinka Venkata, Sai Ganesh, Kakumanu Vamsi Sree, Prince, Shanthi
Format: Article
Language:English
Subjects:
Cameras
Cloud computing
Feature extraction
Indoor environments
Inertial platforms
Lidar
Physics
Real time
Reconstruction
Simultaneous localization and mapping
Underwater
Unknown environments
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Summary:Underwater environment is one of the most challenging areas when considering scene reconstruction and mapping, feature extraction of environment etc. GPS usage is denied in underwater environment and a waterproof lidar is also not a cost-effective solution to map and localize. Lidar-based simultaneous localization and mapping (SLAM) are also not preferred in budget-constrained applications. So, a visual-slam (V-SLAM) approach called Real-Time Appearance Based Mapping (RTAB-Map) is used to reconstruct the view in underwater scenario, i.e., map and localize the camera in the environment. In this work, Intel Real Sense D455 depth camera with inbuilt inertial measurement unit (IMU) is used for scene reconstruction. In order to get better visualization, it needs high performance embedded computer. Here, Jetson Nano embedded computer with robot operating system is used. Experiment is conducted for 3-D reconstruction map with the help of RTAB mapping technique and inbuilt IMU localized the camera in unknown environment. Then various depth, point clouds, odometry of a camera, visual object information is extracted in the indoor environment.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2335/1/012057