An Underwater Localization Method Based on Visual SLAM for the Near-Bottom Environment
Zonglin Liu,
Meng Wang,
Hanwen Hu
et al.
Abstract:The feature matching of the near-bottom visual SLAM is influenced by underwater raised sediments, resulting in tracking loss. In this paper, the novel visual SLAM system is proposed in the underwater raised sediments environment. The underwater images are firstly classified based on the color recognition method by adding the weights of pixel location to reduce the interference of similar colors on the seabed. The improved adaptive median filter method is proposed to filter the classified images by using the me… Show more
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