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Authors: Antoni Burguera ; Francisco Bonin-Font and Gabriel Oliver

Affiliation: Universitat de les Illes Balears, Spain

Keyword(s): Underwater Robotics, Visual SLAM, Data Association, Image Registration.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering

Abstract: This paper proposes a simple and practical approach to perform underwater visual SLAM. The proposal improves the traditional EKF-SLAM by adopting a Trajectory-based schema that reduces the computational requirements. Linearization errors are also reduced by means of an IEKF. One of the most important parts of the proposed SLAM approach is robust image registration, which is used in the data association step making it possible to close loops reliably. Thanks to that, as shown in the experiments, the presented approach provides accurate pose estimates using both a simulated robot and a real one.

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Paper citation in several formats:
Burguera, A.; Bonin-Font, F. and Oliver, G. (2014). Towards Robust Image Registration for Underwater Visual SLAM. In Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP; ISBN 978-989-758-009-3; ISSN 2184-4321, SciTePress, pages 539-544. DOI: 10.5220/0004682005390544

@conference{visapp14,
author={Antoni Burguera. and Francisco Bonin{-}Font. and Gabriel Oliver.},
title={Towards Robust Image Registration for Underwater Visual SLAM},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP},
year={2014},
pages={539-544},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004682005390544},
isbn={978-989-758-009-3},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP
TI - Towards Robust Image Registration for Underwater Visual SLAM
SN - 978-989-758-009-3
IS - 2184-4321
AU - Burguera, A.
AU - Bonin-Font, F.
AU - Oliver, G.
PY - 2014
SP - 539
EP - 544
DO - 10.5220/0004682005390544
PB - SciTePress

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