NDLI: Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection

Content Provider	IEEE Xplore Digital Library
Author	Ayoung Kim Eustice, R.
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Engineering, USA (Ayoung Kim) \|\| Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, 48109-2145, USA (Eustice, R.)
Abstract	This paper reports the application of vision based simultaneous localization and mapping (SLAM) to the problem of autonomous ship hull inspection by an underwater vehicle. The goal of this work is to automatically map and navigate the underwater surface area of a ship hull for foreign object detection and maintenance inspection tasks. For this purpose we employ a pose-graph SLAM algorithm using an extended information filter for inference. For perception, we use a calibrated monocular camera system mounted on a tilt actuator so that the camera approximately maintains a nadir view to the hull. A combination of SIFT and Harris features detectors are used within a pairwise image registration framework to provide camera-derived relative-pose constraints (modulo scale). Because the ship hull surface can vary from being locally planar to highly three-dimensional (e.g., screws, rudder), we employ a geometric model selection framework to appropriately choose either an essential matrix or homography registration model during image registration. This allows the image registration engine to exploit geometry information at the early stages of estimation, which results in better navigation and structure reconstruction via more accurate and robust camera-constraints. Preliminary results are reported for mapping a 1,300 image data set covering a 30 m by 5 m section of the hull of a USS aircraft carrier. The post-processed result validates the algorithm's potential to provide in-situ navigation in the underwater environment for trajectory control, while generating a texture-mapped 3D model of the ship hull as a byproduct for inspection.
Starting Page	1559
Ending Page	1565
File Size	2028388
Page Count	7
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354132
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Solid modeling Marine vehicles Inspection Image registration Aircraft navigation Cameras Underwater vehicles Object detection Inference algorithms
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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