Application and evaluation of direct sparse visual odometry in marine vessels
Paper i proceeding, 2022

With the international community pushing for a computer vision based option to the laws requiring a look-out for marine vehicles, there is now a significant motivation to provide digital solutions for navigation using these envisioned mandatory visual sensors. This paper explores the monocular direct sparse odometry algorithm when applied to a typical marine environment. The method uses a single camera to estimate a vessel's motion and position over time and is then compared to ground truth to establish feasibility as both a local and global navigation system. Whilst it was inconsistent in accurately estimating vessel position, it was found that it could consistently estimate the vessel's orientation in the majority of the situations the vessel was tasked with. It is therefore shown that monocular direct sparse odometry is partially suitable as a standalone navigation system and is a strong base for a multi-sensor solution.

Visual odometry

Computer vision

Monocular direct sparse odometry

Optical flow

Position estimation

Marine systems

Heading tracking

Författare

Björnborg Nguyen

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Krister Blanch

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Anna Petersson

Chalmers

Ola Benderius

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Christian Berger

Göteborgs universitet

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 55 31 235-242

14th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2022
Kongens Lyngby, Denmark,

Ämneskategorier

Robotteknik och automation

Signalbehandling

Datorseende och robotik (autonoma system)

DOI

10.1016/j.ifacol.2022.10.437

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Senast uppdaterat

2023-03-20