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  4. Development, Evaluation and Validation of a Stereo Camera Underwater SLAM Algorithm
 
Zitierlink URN
https://nbn-resolving.de/urn:nbn:de:gbv:46-00103684-16

Development, Evaluation and Validation of a Stereo Camera Underwater SLAM Algorithm

Veröffentlichungsdatum
2014-03-12
Autoren
Hildebrandt, Marc  
Betreuer
Kirchner, Frank  
Gutachter
Hertzberg, Joachim  
Zusammenfassung
In this work the development of an algorithm for visual underwater localization is described. It spans the complete process from the initial idea, the development of a suitable underwater vehicle for testing to the algorithm's experimental validation in real underwater environments. Besides the development and validation of the visual SLAM algorithm, the methodology for its evaluation is a key aspect of this work. The resulting SURE-SLAM algorithm uses a stereo camera system and basic vehicle sensors (AHRS, DPS) to compute a complete, error-bounded localization solution for underwater vehicles in real-time with similar quality as state-of-the-art acoustically stabilized dead-reckoning approaches. The robustness of the algorithm as well as its limitations and failure-cases are established by extensive field testing with the AUV Dagon, which was developed during this thesis as test and evaluation vehicle.
Schlagwörter
SLAM

; 

Underwater Robotics

; 

Camera

; 

Stereo

; 

Underwater

; 

Vehicle

; 

Validation

; 

Field-Trials
Institution
Universität Bremen  
Fachbereich
Fachbereich 03: Mathematik/Informatik (FB 03)  
Dokumenttyp
Dissertation
Zweitveröffentlichung
Nein
Sprache
Englisch
Dateien
Lade...
Vorschaubild
Name

00103684-1.pdf

Size

16.47 MB

Format

Adobe PDF

Checksum

(MD5):1b3b405e0bbbef329bb13525ff670703

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