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Cited 21 time in webofscience Cited 27 time in scopus
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A robust loop-closure method for visual SLAM in unstructured seafloor environments SCIE SCOPUS

Title
A robust loop-closure method for visual SLAM in unstructured seafloor environments
Authors
Hong, SKim, JPyo, JYu, S.-C.
Date Issued
2016-08
Publisher
Springer US
Abstract
This paper addresses the problem of visual simultaneous localization and mapping (SLAM) in an unstructured seabed environment that can be applied to an unmanned underwater vehicle equipped with a single monocular camera as the main measurement sensor. Monocular vision is regarded as an efficient sensing option in the context of SLAM, however it poses a variety of challenges when the relative motion is determined by matching a pair of images in the case of in-water visual SLAM. Among the various challenges, this research focuses on the problem of loop-closure which is one of the most important issues in SLAM. This study proposes a robust loop-closure algorithm in order to improve operational performance in terms of both navigation and mapping by efficiently reconstructing image matching constraints. To demonstrate and evaluate the effectiveness of the proposed loop-closure method, experimental datasets obtained in underwater environments are used, and the validity of the algorithm is confirmed by a series of comparative results.
URI
https://oasis.postech.ac.kr/handle/2014.oak/36180
DOI
10.1007/S10514-015-9512-6
ISSN
0929-5593
Article Type
Article
Citation
Autonomous Robots, vol. 40, no. 6, page. 1095 - 1109, 2016-08
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유선철YU, SON-CHEOL
Div. of Advanced Nuclear Enginrg
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