Monocular Visual Odometry with Unmanned Underwater Vehicle Using Low Cost Sensors

Paolo Dabove, Vincenzo Di Pietra, Marco Piras

Peer Reviewed

Abstract:	The positioning in underwater environments is today a strong necessity for many purposes, such as construction, communication, localization, and environmental monitoring. The use of underwater rover allows to perform visual inspections, maintenance and repair of many infrastructures, like dams, pipes, tunnels, structures as well as the analyses of the underwater environments in lakes, rivers and seas. This work deals with interesting results about monocular visual odometry for unmanned underwater navigation systems. Interesting results have been obtained considering low-cost sensors simulating the real-time, challenging operational conditions, applied for a dedicated archaeological situation. Particular algorithms for navigation procedures and outliers’ rejections have been written and will presented in this paper: these aspects have a great importance especially for autonomous navigation solutions in underwater complex environments, such as for archaeological applications.
Published in:	2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 20 - 23, 2020 Hilton Portland Downtown Portland, Oregon
Pages:	810 - 816
Cite this article:	Dabove, Paolo, Di Pietra, Vincenzo, Piras, Marco, "Monocular Visual Odometry with Unmanned Underwater Vehicle Using Low Cost Sensors," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 810-816.
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