首页|Absolute scale estimation for underwater monocular visual odometry based on 2-D imaging sonar
Absolute scale estimation for underwater monocular visual odometry based on 2-D imaging sonar
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NSTL
Elsevier
? 2021In this paper, the scale ambiguity in underwater monocular visual odometry is solved with 2-D sonar measurements obtained from three viewpoints. Each measurement value is formulated as geometrical constraint and the recovered scale can be expressed in closed-form. Different from the existing method which assumes the features being on the same plane in order to meet the pre-condition of quasi-homography transformation, our method allows the observation points to be distributed spatially (not limited to a plane), thus extending the proposed method to more general application environments. An error contribution criterion of sonar measurement is proposed to weight the constraints, which further reduces the influence of noisy input. Experiments are performed in both simulated and real environments. For nonplanar case, the proposed method gives improved accuracy after employing constraint weighting. As for planar case, our method achieves comparable accuracy to the existing method, while the time consumption is much lower.
Absolute scale estimationForward-looking sonarMonocular visual odometryMultiple-view geometryOpti-acoustic visual system
Yang D.、Liu J.、He B.、Ai H.
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School of Mechanical Engineering and Automation Fuzhou University
School of Energy and Mechanical Engineering Jiangxi University of Science and Technology
NSTL
Elsevier
