Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency

  title={Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency},
  author={Ayoung Kim and Ryan M. Eustice},
  journal={IEEE Transactions on Robotics},
This paper reports a real-time monocular visual simultaneous localization and mapping (SLAM) algorithm and results for its application in the area of autonomous underwater ship hull inspection. The proposed algorithm overcomes some of the specific challenges associated with underwater visual SLAM, namely, limited field of view imagery and feature-poor regions. It does so by exploiting our SLAM navigation prior within the image registration pipeline and by being selective about which imagery is… CONTINUE READING
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