Abstract
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.
Highlights
Important applications in computer vision and autonomous robotics deal with the processing and understanding of video moving scenes
This area has a wide significance for many problems in robotics such as SLAM
This paper has dealt 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 and revisiting them in another instance
Summary
Important applications in computer vision and autonomous robotics deal with the processing and understanding of video moving scenes. One of the most challenging problems in both outdoors and underwater applications is the self-similar appearance caused by visual patterns in relief and texture that approximately repeat in a monotonous way on the landscape [8] This effect can potentially carry the risk of location failures, even when the presence of features is abundant. The goal of this paper is to develop an effective approach for establishing mechanisms that can help a vision-based guidance system doing a primary but meaningful navigation across “unknown” regions, connecting other well-mapped regions by means of two-way corridors, or returning safely to the source point, all without the need of becoming aware of a consistent global self-position
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