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Pose-graph underwater Simultaneous Localization And Mapping for autonomous monitoring by means of optical and acoustic sensors
  • Alessandro Bucci,
  • Alessandro Ridolfi,
  • Benedetto Allotta
Alessandro Bucci
Universita degli Studi di Firenze Dipartimento di Ingegneria Industriale

Corresponding Author:[email protected]

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Alessandro Ridolfi
Universita degli Studi di Firenze Dipartimento di Ingegneria Industriale
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Benedetto Allotta
Universita degli Studi di Firenze Dipartimento di Ingegneria Industriale
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Abstract

Modern mobile robots require precise and robust localization and navigation systems to achieve mission tasks correctly. In particular, in the underwater environment, where Global Navigation Satellite Systems (GNSSs) cannot be exploited, the development of localization and navigation strategies becomes more challenging. Maximum A Posteriori (MAP) strategies have been analyzed and tested to increase navigation accuracy and take into account the entire history of the system state. In particular, a sensor fusion algorithm relying on a MAP technique for Simultaneous Localization and Mapping (SLAM) has been developed to fuse information coming from a monocular camera and a Doppler Velocity Log (DVL) and to consider the landmark points in the navigation framework. The proposed approach can guarantee to simultaneously locate the vehicle, thanks to the onboard sensors, and map the surrounding environment with the information extracted from the images acquired by a bottom-looking optical camera. Optical sensors can provide constraints between the vehicle poses and the landmarks belonging to the observed scene. The DVL measurements have been employed to solve the unknown scale factor and to guarantee the correct vehicle localization even in absence of visual features. After validating the solution through realistic simulations, an experimental campaign at sea was conducted in Stromboli Island (Messina), Italy. In conclusion, an algorithm, which works with the Poisson surface reconstruction method to obtain a smooth seabed surface, for mesh creation has been developed.
26 Aug 2023Submitted to Journal of Field Robotics
26 Aug 2023Assigned to Editor
26 Aug 2023Submission Checks Completed
26 Aug 2023Review(s) Completed, Editorial Evaluation Pending
31 Aug 2023Reviewer(s) Assigned
07 Nov 2023Editorial Decision: Revise Major
19 Feb 2024Review(s) Completed, Editorial Evaluation Pending
25 Feb 2024Editorial Decision: Revise Minor