Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Vision-based slam for ROVs: preliminary experimental results. In: MCMC 2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft (Lisbon, Portugal, 20-22 September 2006). Proceedings, pp. 1 - 6. IFAC, 2006.
This paper focuses on preliminary results of a vision-based simultaneous localisation and mapping (SLAM) system for ROVs operating in the proximity of the seabed. In particular, the experiments carried out with the Romeo ROV in typical operating conditions demonstrate the possibility of defining suitable unambiguous features, i.e. image templates, to be extracted automatically by the system and used as landmarks. The overall system is based on and integrated with the already developed laser triangulation optical correlation (LTOC) sensor, for the estimate of the camera/vehicle linear motion on the basis of monocular video data.
Subject SLAM
underwater vision

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