Stereo SLAM for robust dense 3D reconstruction of underwater environments

Bonin‐Font, Francisco; Cosic, Aleksandar; Negre, Pep Lluís; Solbach, Markus D.; Oliver, Gabriel

doi:10.1109/oceans-genova.2015.7271333

Cited by 10 publications

(4 citation statements)

References 13 publications

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“…Negre et al [ 126 , 127 ] perform 3D reconstruction of underwater environments using a graph SLAM approach in a micro AUV equipped with two stereo rigs. In Figure 11 , a 3D reconstruction of Santa Ponça Bay is displayed, covering an area of

m.…”

Section: Sensors and Technologiesmentioning

confidence: 99%

Optical Sensors and Methods for Underwater 3D Reconstruction

Massot-Campos

Oliver-Codina

2015

Sensors

134

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This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has been reviewed, and a classification has been proposed for the existing solutions. New developments, commercial solutions and previous reviews in this topic have also been gathered and considered.

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m.…”

Section: Sensors and Technologiesmentioning

confidence: 99%

Optical Sensors and Methods for Underwater 3D Reconstruction

Massot-Campos

Oliver-Codina

2015

Sensors

134

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“…These methods make use of stereo cameras to produce depth maps that can be utilized to recreate environments in great detail. Bonin-Font et al [140] compared two different stereo-vision-based SLAM methods, graph-SLAM and EKF SLAM, for the real-time localization of moving AUVs in underwater ecosystems. Both methods utilize only 3D models.…”

Section: Left Cameramentioning

confidence: 99%

Overview of Underwater 3D Reconstruction Technology Based on Optical Images

Wang

Shen

et al. 2023

JMSE

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At present, 3D reconstruction technology is being gradually applied to underwater scenes and has become a hot research direction that is vital to human ocean exploration and development. Due to the rapid development of computer vision in recent years, optical image 3D reconstruction has become the mainstream method. Therefore, this paper focuses on optical image 3D reconstruction methods in the underwater environment. However, due to the wide application of sonar in underwater 3D reconstruction, this paper also introduces and summarizes the underwater 3D reconstruction based on acoustic image and optical–acoustic image fusion methods. First, this paper uses the Citespace software to visually analyze the existing literature of underwater images and intuitively analyze the hotspots and key research directions in this field. Second, the particularity of underwater environments compared with conventional systems is introduced. Two scientific problems are emphasized by engineering problems encountered in optical image reconstruction: underwater image degradation and the calibration of underwater cameras. Then, in the main part of this paper, we focus on the underwater 3D reconstruction methods based on optical images, acoustic images and optical–acoustic image fusion, reviewing the literature and classifying the existing solutions. Finally, potential advancements in this field in the future are considered.

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“…Drap et al [1] presented an approach for underwater archaeology based on 3D reconstruction using a remotely operated underwater vehicle (ROV). Bonin-Font et al [2] and Bobkov et al [3] researched the underwater navigation and Simultaneous Localization and Mapping (SLAM) with stereo camera in the Autonomous Underwater Vehicle (AUV). Autonomous underwater intervention tasks and floating manipulation is another challenging research in which the stereo visual sensing is essential.…”

Section: Introductionmentioning

confidence: 99%

Research and Experiment of an Underwater Stereo Vision System

Wang

Zhang

Lin

et al. 2019

OCEANS 2019 - Marseille

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Underwater computer vision is a challenging task due to the severe underwater condition. The underwater optical system can provide more detailed information than the acoustic system. This paper describes a new stereo vision system for underwater object detection and 3D reconstruction. The Stereolabs ZED 2K Stereo Camera and NVIDIA Jetson TX2 are the core components of the system. A USB3.0 optical cable can transmit the high-definition video at the maximum speed of 5.0 GB/s within a distance of 300 meters. All software modules are developed based on ROS (Robot Operating System) middleware. The underwater camera calibration has been carried out to correct the underwater distortion of stereo vision, and underwater 3D reconstruction experiments have proven the validity of the system.

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Stereo SLAM for robust dense 3D reconstruction of underwater environments

Cited by 10 publications

References 13 publications

Optical Sensors and Methods for Underwater 3D Reconstruction

Optical Sensors and Methods for Underwater 3D Reconstruction

Overview of Underwater 3D Reconstruction Technology Based on Optical Images

Research and Experiment of an Underwater Stereo Vision System

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