1.School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan,430063
2.Institute of Intelligent Manufacturing and Control,Wuhan University of Technology,Wuhan,430063
3.Key Laboratory of Port Cargo Handling Technology of Wuhan University of Technology,
Wuhan,43006
视觉同时定位与地图构建(SLAM)
Abstract:
Regarding with problems of low quality of underwater images and difficulty of underwater autonomous localization faced by bionic robotic fish in underwater operations, an enhanced underwater image algorithm with color equalization and a priori fusion of G-B channels was proposed. The algorithm was combined with visual SLAM construction methods to enhance visual 3D reconstruction of underwater images. Underwater image processing experiments, underwater environment visual 3D reconstruction experiments, and motion trajectory tracking experiments were carried out in different water environments. The results show that the method effectively improves the comprehensive quality of underwater images. The feature matching efficiency is improved by 16.03%, and the error between the real trajectory and the estimated trajectory is about 7.99 mm on average.
Key words:
underwater image enhancement,
3D reconstruction,
trajectory tracking,
visual simultaneous localization and mapping(SLAM)
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