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
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/71947
Ver los metadatos del registro completo
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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 Técnicas2025-09-29T10:07:17Zoai: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:34982025-09-29 10:07:18.172CONICET 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_ |
1844613931067244544 |
score |
13.070432 |