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3D SLAM from stereoimages

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Abstract

A method of visual navigation by stereoimages for autonomous underwater vehicles is suggested. Two modifications of the method are considered. The first one is based on integration of measurement data of onboard navigation system with visual data. The second modification relies on the use of a six-cloud computation scheme. Results of computational experiments with model data are presented.

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Authors and Affiliations

  1. Institute of Automation and Control Processes, Far Eastern Branch, Russian Academy of Sciences, ul. Radio 5, Vladivostok, 690041, Russia

    V. A. Bobkov, Yu. I. Ron’shin, A. P. Kudryashov & V. Yu. Mashentsev

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  1. V. A. Bobkov
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  2. Yu. I. Ron’shin
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  3. A. P. Kudryashov
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  4. V. Yu. Mashentsev
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Corresponding author

Correspondence to V. A. Bobkov.

Additional information

Original Russian Text © V.A. Bobkov, Yu.I. Ron’shin, A.P. Kudryashov, V.Yu. Mashentsev, 2014, published in Programmirovanie, 2014, Vol. 40, No. 4.

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Bobkov, V.A., Ron’shin, Y.I., Kudryashov, A.P. et al. 3D SLAM from stereoimages. Program Comput Soft 40, 159–165 (2014). https://doi.org/10.1134/S0361768814040021

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  • DOI: https://doi.org/10.1134/S0361768814040021

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