Fast Visual Odometry for a Low-Cost Underwater Embedded Stereo System †

Sensors
Mohamad Motasem NawafPierre Drap

Abstract

This paper provides details of hardware and software conception and realization of a stereo embedded system for underwater imaging. The system provides several functions that facilitate underwater surveys and run smoothly in real-time. A first post-image acquisition module provides direct visual feedback on the quality of the taken images which helps appropriate actions to be taken regarding movement speed and lighting conditions. Our main contribution is a light visual odometry method adapted to the underwater context. The proposed method uses the captured stereo image stream to provide real-time navigation and a site coverage map which is necessary to conduct a complete underwater survey. The visual odometry uses a stochastic pose representation and semi-global optimization approach to handle large sites and provides long-term autonomy, whereas a novel stereo matching approach adapted to underwater imaging and system attached lighting allows fast processing and suitability to low computational resource systems. The system is tested in a real context and shows its robustness and promising future potential.

References

Apr 14, 2007·IEEE Transactions on Pattern Analysis and Machine Intelligence·Andrew J DavisonOlivier Stasse
Nov 3, 2010·Computing in Science & Engineering·John E StoneGuochun Shi
Apr 23, 2014·BioEssays : News and Reviews in Molecular, Cellular and Developmental Biology·Jeffery Demuth

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Citations

Feb 13, 2020·Sensors·Oscar Reinoso, Luis Payá

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Software Mentioned

OpenCV
OpenCL
Agisoft Photoscan
BlueRobotics
Rasbain
Linux
RPi
Raspberry
Pixhawk

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