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12 September 2024 Underwater SLAM system based on image feature point information enhancement
Yijie Tang, Jin Wang
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Proceedings Volume 13256, Fourth International Conference on Computer Vision and Pattern Analysis (ICCPA 2024); 132560V (2024) https://doi.org/10.1117/12.3038010
Event: Fourth International Conference on Computer Vision and Pattern Analysis (ICCPA 2024), 2024, Anshan, China
Abstract
In this paper, we propose an underwater synchronous localization and mapping algorithm based on image information enhancement, which can reduce the problems of image blurring and contrast reduction caused by environmental factors by processing underwater images, and improve the performance of visual odometer in underwater environment. On the basis of image processing, the acoustic sensor with less influence on underwater environmental factors is introduced to help the system to carry out target scale recovery and absolute distance detection, strengthen the tracking and matching of feature points, and improve the accuracy of state estimation.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Yijie Tang and Jin Wang "Underwater SLAM system based on image feature point information enhancement", Proc. SPIE 13256, Fourth International Conference on Computer Vision and Pattern Analysis (ICCPA 2024), 132560V (12 September 2024); https://doi.org/10.1117/12.3038010
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KEYWORDS
Image enhancement
Image processing
Cameras
Acoustics
Attenuation
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