A node-based method for SLAM navigation in self-similar underwater environments: A case study

Autores
Trabes, Emanuel; Jordan, Mario Alberto
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work deals with the development of a node-based monocular visual methodology for autonomous vehicle navigation which has the goal of exploring unknown regions of the sea bottom with a posterior safe revisiting of them. The work accentuates characteristics of the seabed like self-similarity and backscattering. In a stepwise fashion, a visual guidance system constructs a shape similar to a narrow corridor by optimally creating a heading function on the basis of keypoints threads, which ensures future revisits. The corridor is composed of nodes and paths in between. Each path is composed of a visual-odometry-based trail which is generated in feature-poor environments, in combination with a feature-based trail which emerges in feature-rich regions. A probabilistic analysis of the uncertainties and their impact in the success rate on loop closings is carried out. We work out two case studies, the first employing an ad-hoc benchmark and the second a series of experiments in the real world. From here qualitative conclusions can be drawn out that enable us to anticipate potential applications of the approach in the field of autonomous navigation underwater.
Fil: Trabes, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Fil: Jordan, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Materia
BACKSCATTERING
CORRIDOR
LOOP CLOSURE
MONOCULAR SLAM
SELF-SIMILARITY
TRACKING AND MAPPING
UNDERWATER ENVIRONMENT
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/71947
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A node-based method for SLAM navigation in self-similar underwater environments: A case studyTrabes, EmanuelJordan, Mario AlbertoBACKSCATTERINGCORRIDORLOOP CLOSUREMONOCULAR SLAMSELF-SIMILARITYTRACKING AND MAPPINGUNDERWATER ENVIRONMENThttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work deals with the development of a node-based monocular visual methodology for autonomous vehicle navigation which has the goal of exploring unknown regions of the sea bottom with a posterior safe revisiting of them. The work accentuates characteristics of the seabed like self-similarity and backscattering. In a stepwise fashion, a visual guidance system constructs a shape similar to a narrow corridor by optimally creating a heading function on the basis of keypoints threads, which ensures future revisits. The corridor is composed of nodes and paths in between. Each path is composed of a visual-odometry-based trail which is generated in feature-poor environments, in combination with a feature-based trail which emerges in feature-rich regions. A probabilistic analysis of the uncertainties and their impact in the success rate on loop closings is carried out. We work out two case studies, the first employing an ad-hoc benchmark and the second a series of experiments in the real world. From here qualitative conclusions can be drawn out that enable us to anticipate potential applications of the approach in the field of autonomous navigation underwater.Fil: Trabes, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; ArgentinaFil: Jordan, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; ArgentinaMDPI AG2017-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/71947Trabes, Emanuel; Jordan, Mario Alberto; A node-based method for SLAM navigation in self-similar underwater environments: A case study; MDPI AG; Robotics; 6; 4; 10-2017; 1-172218-6581CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.3390/robotics6040029info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2218-6581/6/4/29info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T15:04:17Zoai:ri.conicet.gov.ar:11336/71947instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 15:04:17.667CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A node-based method for SLAM navigation in self-similar underwater environments: A case study
title A node-based method for SLAM navigation in self-similar underwater environments: A case study
spellingShingle A node-based method for SLAM navigation in self-similar underwater environments: A case study
Trabes, Emanuel
BACKSCATTERING
CORRIDOR
LOOP CLOSURE
MONOCULAR SLAM
SELF-SIMILARITY
TRACKING AND MAPPING
UNDERWATER ENVIRONMENT
title_short A node-based method for SLAM navigation in self-similar underwater environments: A case study
title_full A node-based method for SLAM navigation in self-similar underwater environments: A case study
title_fullStr A node-based method for SLAM navigation in self-similar underwater environments: A case study
title_full_unstemmed A node-based method for SLAM navigation in self-similar underwater environments: A case study
title_sort A node-based method for SLAM navigation in self-similar underwater environments: A case study
dc.creator.none.fl_str_mv Trabes, Emanuel
Jordan, Mario Alberto
author Trabes, Emanuel
author_facet Trabes, Emanuel
Jordan, Mario Alberto
author_role author
author2 Jordan, Mario Alberto
author2_role author
dc.subject.none.fl_str_mv BACKSCATTERING
CORRIDOR
LOOP CLOSURE
MONOCULAR SLAM
SELF-SIMILARITY
TRACKING AND MAPPING
UNDERWATER ENVIRONMENT
topic BACKSCATTERING
CORRIDOR
LOOP CLOSURE
MONOCULAR SLAM
SELF-SIMILARITY
TRACKING AND MAPPING
UNDERWATER ENVIRONMENT
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work deals with the development of a node-based monocular visual methodology for autonomous vehicle navigation which has the goal of exploring unknown regions of the sea bottom with a posterior safe revisiting of them. The work accentuates characteristics of the seabed like self-similarity and backscattering. In a stepwise fashion, a visual guidance system constructs a shape similar to a narrow corridor by optimally creating a heading function on the basis of keypoints threads, which ensures future revisits. The corridor is composed of nodes and paths in between. Each path is composed of a visual-odometry-based trail which is generated in feature-poor environments, in combination with a feature-based trail which emerges in feature-rich regions. A probabilistic analysis of the uncertainties and their impact in the success rate on loop closings is carried out. We work out two case studies, the first employing an ad-hoc benchmark and the second a series of experiments in the real world. From here qualitative conclusions can be drawn out that enable us to anticipate potential applications of the approach in the field of autonomous navigation underwater.
Fil: Trabes, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Fil: Jordan, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
description This work deals with the development of a node-based monocular visual methodology for autonomous vehicle navigation which has the goal of exploring unknown regions of the sea bottom with a posterior safe revisiting of them. The work accentuates characteristics of the seabed like self-similarity and backscattering. In a stepwise fashion, a visual guidance system constructs a shape similar to a narrow corridor by optimally creating a heading function on the basis of keypoints threads, which ensures future revisits. The corridor is composed of nodes and paths in between. Each path is composed of a visual-odometry-based trail which is generated in feature-poor environments, in combination with a feature-based trail which emerges in feature-rich regions. A probabilistic analysis of the uncertainties and their impact in the success rate on loop closings is carried out. We work out two case studies, the first employing an ad-hoc benchmark and the second a series of experiments in the real world. From here qualitative conclusions can be drawn out that enable us to anticipate potential applications of the approach in the field of autonomous navigation underwater.
publishDate 2017
dc.date.none.fl_str_mv 2017-10
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/71947
Trabes, Emanuel; Jordan, Mario Alberto; A node-based method for SLAM navigation in self-similar underwater environments: A case study; MDPI AG; Robotics; 6; 4; 10-2017; 1-17
2218-6581
CONICET Digital
CONICET
url http://hdl.handle.net/11336/71947
identifier_str_mv Trabes, Emanuel; Jordan, Mario Alberto; A node-based method for SLAM navigation in self-similar underwater environments: A case study; MDPI AG; Robotics; 6; 4; 10-2017; 1-17
2218-6581
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.3390/robotics6040029
info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2218-6581/6/4/29
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI AG
publisher.none.fl_str_mv MDPI AG
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846083186063310848
score 13.22299

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