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Real-Time Underwater StereoFusion.

Matija Rossi1, Petar Trslić2, Satja Sivčev3

  • 1Centre for Robotics & Intelligent Systems, University of Limerick, Limerick V94 T9PX, Ireland. matija.rossi@ul.ie.

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Summary

Underwater robots use StereoFusion for real-time 3D reconstruction and camera tracking. This computer vision algorithm enables detailed environmental mapping using stereo cameras, improving underwater robotic capabilities.

Keywords:
3DGPUROVcamerafusionreal-timestereotrackingunderwatervision

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Area of Science:

  • Robotics
  • Computer Vision
  • Oceanography

Background:

  • Underwater robotics demand real-time environmental sensing and interpretation.
  • Computer vision is crucial for underwater robot perception, especially with camera-equipped systems.

Purpose of the Study:

  • To implement and evaluate StereoFusion, an algorithm for real-time 3D dense reconstruction and camera tracking.
  • To adapt existing fusion algorithms for stereo camera input in underwater environments.

Main Methods:

  • Developed StereoFusion, an algorithm based on KinectFusion but utilizing stereo cameras.
  • Employed depth maps from stereo cameras for incremental volumetric 3D model construction.
  • Integrated simultaneous camera tracking using the generated 3D model.

Main Results:

  • Successfully implemented and tested StereoFusion on two underwater Remotely Operated Vehicles (ROVs).
  • Demonstrated effective real-time 3D reconstruction and camera tracking in both lake and ocean environments.
  • Validated the algorithm's performance with state-of-the-art underwater robotic platforms.

Conclusions:

  • StereoFusion provides a robust solution for real-time 3D environmental modeling in underwater robotics.
  • The algorithm's successful deployment in diverse aquatic settings highlights its practical applicability.
  • Future work includes adapting StereoFusion for acoustic sensors and developing monocular vision capabilities.