Monocular Odometry for Underwater Vehicles with Online Estimation of the Scale Factor

Vincent Creuze 1
1 ICAR - Image & Interaction
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper introduces a new visual odometry method for underwater vehicles. It is based on images grabbed by a monocular video camera, and aided by inertial and pressure measurements. This approach offers several advantages. Firstly, it is compact and runs very fast, even with limited computational resources. This allows to embed it on very small vehicles. Secondly, and probably most importantly, the method is able to estimate online the scale factor of the observed scene, thanks to the combined measures of a low-cost IMU and a pressure sensor. The paper ends with an experimental validation onboard the Leonard underwater vehicle.
Type de document :
Communication dans un congrès
IFAC 2017 World Congress, Jul 2017, Toulouse, France. 20th World Congress of the International Federation of Automatic Control, 2017, 〈https://www.ifac2017.org/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01567463
Contributeur : Vincent Creuze <>
Soumis le : dimanche 23 juillet 2017 - 23:22:24
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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Vincent Creuze. Monocular Odometry for Underwater Vehicles with Online Estimation of the Scale Factor. IFAC 2017 World Congress, Jul 2017, Toulouse, France. 20th World Congress of the International Federation of Automatic Control, 2017, 〈https://www.ifac2017.org/〉. 〈lirmm-01567463〉

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