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Stereo-vision graph-SLAM for robust navigation of the AUV SPARUS II

Stereo-vision graph-SLAM for robust navigation of the AUV SPARUS II
Stereo-vision graph-SLAM for robust navigation of the AUV SPARUS II
This paper presents the integration of a stereo-vision Graph-SLAM system in the navigation and control architecture of the Autonomous Underwater Vehicle (AUV) SPARUS II. The navigation architecture of SPARUS II is endowed with an Extended Kalman Filter (EKF) that fuses the data provided by a Doppler Velocity Log (DVL), a pressure sensor, a GPS (when the vehicle is in the surface) and an Inertial Measurement Unit (IMU). But due to the nature of the aforementioned sensors, this localization data is prone to drift. Instead, the stereo-vision Graph-SLAM clearly improves the localization data thanks to the additional pose constraints computed from visual (stereo) loop closings. SLAM estimates are thereafter inserted in the control architecture to increase the precision in the navigation and mission tasks. Experiments with SPARUS II in simulated environments show the improvement and benefits in the application of this SLAM approach for localization, navigation and control, with respect to the use of the EKF odometry.
Robot control, Robot navigation, Robot vision, Stereo vision localization
2405-8963
200-205
Carrasco, Pep Luis Negre
855a8e05-d8f8-410a-8cba-bb13d6f50b8f
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Campos, Miquel Massot
a55d7b32-c097-4adf-9483-16bbf07f9120
Codina, Gabriel Oliver
7550b6e0-f2f9-49aa-92d1-e980d4b605b3
Carrasco, Pep Luis Negre
855a8e05-d8f8-410a-8cba-bb13d6f50b8f
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Campos, Miquel Massot
a55d7b32-c097-4adf-9483-16bbf07f9120
Codina, Gabriel Oliver
7550b6e0-f2f9-49aa-92d1-e980d4b605b3

Carrasco, Pep Luis Negre, Bonin-Font, Francisco, Campos, Miquel Massot and Codina, Gabriel Oliver (2015) Stereo-vision graph-SLAM for robust navigation of the AUV SPARUS II. IFAC-PapersOnLine, 28 (2), 200-205. (doi:10.1016/j.ifacol.2015.06.033).

Record type: Article

Abstract

This paper presents the integration of a stereo-vision Graph-SLAM system in the navigation and control architecture of the Autonomous Underwater Vehicle (AUV) SPARUS II. The navigation architecture of SPARUS II is endowed with an Extended Kalman Filter (EKF) that fuses the data provided by a Doppler Velocity Log (DVL), a pressure sensor, a GPS (when the vehicle is in the surface) and an Inertial Measurement Unit (IMU). But due to the nature of the aforementioned sensors, this localization data is prone to drift. Instead, the stereo-vision Graph-SLAM clearly improves the localization data thanks to the additional pose constraints computed from visual (stereo) loop closings. SLAM estimates are thereafter inserted in the control architecture to increase the precision in the navigation and mission tasks. Experiments with SPARUS II in simulated environments show the improvement and benefits in the application of this SLAM approach for localization, navigation and control, with respect to the use of the EKF odometry.

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More information

Published date: 2 September 2015
Keywords: Robot control, Robot navigation, Robot vision, Stereo vision localization

Identifiers

Local EPrints ID: 428717
URI: https://eprints.soton.ac.uk/id/eprint/428717
ISSN: 2405-8963
PURE UUID: dbdfb12a-7218-4abb-bb08-a6a10bc2f673

Catalogue record

Date deposited: 07 Mar 2019 17:30
Last modified: 07 Mar 2019 17:30

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Contributors

Author: Pep Luis Negre Carrasco
Author: Francisco Bonin-Font
Author: Gabriel Oliver Codina

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