Feature Extraction Towards Underwater SLAM using Imaging Sonar

• Type: Article in International Conference Proceedings Book
• Date: 2023

Authors

Oliveira, AJ (Author) Other; Bruno Ferreira (Author) FEUP; Nuno Cruz (Author) FEUP

Conference proceedings International

Title: OCEANS 2023 - LIMERICK

OCEANS Conference

Limerick, IRELAND, JUN 05-08, 2023

Indexing

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Other information

Authenticus ID: P-00Z-5TJ

DOI: 10.1109/oceanslimerick52467.2023.10244414

Abstract (EN): Blob features are particularly common in acoustic imagery, as isolated objects (e.g., moorings, mines, rocks) appear as blobs in the acquired images. This work focuses the application of the SIFT, SURF, KAZE and U-SURF feature extraction algorithms for blob feature tracking towards Simultaneous Localization and Mapping applications. We introduce a modified feature extraction and matching pipeline intended to improve feature detection and matching precision, tackling performance deterioration caused by the differences between optical and acoustic imagery. Experimental evaluation was undertaken resorting to datasets collected from a water tank structure.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7