Hacia la Navegación Visual de un Vehículo Autónomo Submarino en Áreas con Posidonia Oceanica

Francisco Bonin-Font, Carles Coll Gomila, Gabriel Oliver Codina

Resumen

Este artículo presenta los resultados de un estudio experimental exhaustivo que determina el tipo de características visuales que presentan una mayor robustez, estabilidad y trazabilidad en imágenes submarinas tomadas en entornos colonizados con Posidonia Oceanica (P.O.), sean consecutivas o que cierran bucles (imágenes que muestran una misma área, parcial o totalmente, tomadas en tiempos distintos, desde puntos de vista distintos o incluso en condiciones de iluminación diferentes). El trabajo se ha centrado en dos puntos fundamentales: a) evaluar la capacidad que pueden tener varias técnicas de aumento de contraste en imágenes con P.O. a la hora de aumentar el número y calidad de las características visuales, y b) encontrar la combinación detector/descriptor invariante a rotación y traslación, que maximiza el número de correspondencias inliers usadas posteriormente para el cálculo de la odometria visual, o en el registro de imágenes que cierran bucles.

Palabras clave

Sistemas de navegación; robot submarino autónomo; navegación del robot; visión del robot; odometría visual

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Referencias

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