Bookmark Saya

arXiv Open Access 2023

Real-Time Dense 3D Mapping of Underwater Environments

Weihan Wang Bharat Joshi Nathaniel Burgdorfer Konstantinos Batsos Alberto Quattrini Li +2 lainnya
Lihat Sumber

Abstrak

This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external forces, limited visibility, and absence of global positioning. Obstacle avoidance and effective path planning require online dense reconstructions of the environment. Autonomous operation is central to environmental monitoring, marine archaeology, resource utilization, and underwater cave exploration. To address this problem, we propose to use SVIn2, a robust VIO method, together with a real-time 3D reconstruction pipeline. We provide extensive evaluation on four challenging underwater datasets. Our pipeline produces comparable reconstruction with that of COLMAP, the state-of-the-art offline 3D reconstruction method, at high frame rates on a single CPU.

Topik & Kata Kunci

cs.CV cs.RO

Penulis (7)

W

Weihan Wang

B

Bharat Joshi

N

Nathaniel Burgdorfer

K

Konstantinos Batsos

A

Alberto Quattrini Li

P

Philippos Mordohai

I

Ioannis Rekleitis

Format Sitasi

APA MLA BibTeX
Wang, W., Joshi, B., Burgdorfer, N., Batsos, K., Li, A.Q., Mordohai, P. et al. (2023). Real-Time Dense 3D Mapping of Underwater Environments. https://arxiv.org/abs/2304.02704

Akses Cepat

Lihat di Sumber
Informasi Jurnal
Tahun Terbit
2023
Bahasa
en
Sumber Database
arXiv
Akses
Open Access ✓