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Related Experiment Video

Updated: May 3, 2026

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A Visual-Inertial Pressure Fusion-Based Underwater Simultaneous Localization and Mapping System.

Zhufei Lu1,2, Xing Xu3, Yihao Luo1

  • 1Yichang Testing Technique R&D Institute, Yichang 443003, China.

Sensors (Basel, Switzerland)
|May 25, 2024
PubMed
Summary

Detecting underwater objects is challenging. A new ORB-SLAM3-VIP system fuses depth, IMU, and optical sensors, significantly improving autonomous navigation accuracy for naval mine countermeasures.

Keywords:
ORB-SLAMmulti-sensor fusionunderwater SLAM

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Area of Science:

  • Robotics and Autonomous Systems
  • Oceanography and Marine Technology
  • Computer Vision and Sensor Fusion

Background:

  • Accurate seafloor object detection, crucial for naval mine countermeasures (MCM), is hindered by limitations of single-sensor navigation systems.
  • Existing sonar technologies (sidescan, synthetic aperture) cover large areas but lack the precision for autonomous navigation.

Purpose of the Study:

  • To develop an enhanced Simultaneous Localization and Mapping (SLAM) system for improved underwater navigation and object detection.
  • To address the precision limitations of single-sensor systems in MCM operations by integrating multiple sensor modalities.

Main Methods:

  • Proposed ORB-SLAM3-VIP framework, an extension of ORB-SLAM3-VI, tightly couples depth, Inertial Measurement Unit (IMU), and optical sensors.
  • Implemented a multi-sensor fusion SLAM model, integrating depth and IMU measurements into the visual SLAM algorithm.
  • Introduced depth constraints into initialization, scale fine-tuning, tracking, and mapping to refine Z-axis positioning and enhance pose and scale estimation accuracy.

Main Results:

  • ORB-SLAM3-VIP demonstrated significant improvements on the AQUALOC dataset compared to ORB-SLAM3-VI.
  • Scale error was reduced by up to 41.2% across all tested underwater sequences.
  • Trajectory error was reduced by up to 41.2%, with a square root reduction of up to 41.6%.

Conclusions:

  • The ORB-SLAM3-VIP system offers superior accuracy in pose and scale estimation for underwater navigation.
  • Multi-sensor fusion, particularly with depth constraints, is effective in overcoming limitations of traditional MCM sensor systems.
  • This enhanced SLAM approach provides a more precise foundation for autonomous underwater operations and object detection.