Acoustic Camera-Based Pose Graph SLAM for Dense 3-D Mapping in Underwater Environments
Acoustic Camera-Based Pose Graph SLAM for Dense 3-D Mapping in Underwater Environments
复制标题
基于声学相机的姿态图 SLAM，用于水下环境中的密集 3D 建图
DOI：
10.1109/joe.2020.3033036
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发表时间：
2021
影响因子：
4.1
通讯作者：
Asama Hajime
中科院分区：
文献类型：
--
作者：
Wang Yusheng;Ji Yonghoon;Woo Hanwool;Tamura Yusuke;Tsuchiya Hiroshi;Yamashita Atsushi;Asama Hajime
在这篇文章中，提出了一种新的密集的水下3-D映射范式的基础上的姿态图同时定位和映射（SLAM）使用安装在旋转器上的声学相机。水下任务的需求，如使用机器人的无人施工，正在迅速增长。近年来，声相机作为一种先进的前视成像声纳，已逐步应用于水下探测。然而，独特的成像原理使得难以获得对水下环境的直观感知。在这项研究中，一个声学相机与旋转器用于密集的3-D映射的水下环境。所提出的方法首先应用3-D占用映射框架的基础上的声学摄像机使用旋转器在固定位置处围绕声轴旋转，以生成3-D本地地图。然后，在不涉及内部传感器的情况下，对相邻的局部地图进行扫描匹配，计算里程，并在真实的时间内建立近似的稠密全局地图。最后，基于图优化方案，执行离线细化以生成最终的稠密全局地图。我们的实验结果表明，我们的3-D映射框架的声学相机可以实现密集的3-D映射的水下环境鲁棒性和准确性。
In this article, a novel dense underwater 3-D mapping paradigm based on pose graph simultaneous localization and mapping (SLAM) using an acoustic camera mounted on a rotator is proposed. The demands of underwater tasks, such as unmanned construction using robots, are growing rapidly. In recent years, the acoustic camera, which is a state-of-the-art forward-looking imaging sonar, has been gradually applied in underwater exploration. However, distinctive imaging principles make it difficult to gain an intuitive perception of an underwater environment. In this study, an acoustic camera with a rotator was used for dense 3-D mapping of the underwater environment. The proposed method first applies a 3-D occupancy mapping framework based on the acoustic camera rotating around the acoustic axis using a rotator at a stationary position to generate 3-D local maps. Then, scan matching of adjacent local maps is implemented to calculate odometry without involving internal sensors, and an approximate dense global map is built in real time. Finally, based on a graph optimization scheme, offline refinement is performed to generate a final dense global map. Our experimental results demonstrate that our 3-D mapping framework for an acoustic camera can achieve dense 3-D mapping of underwater environments robustly and accurately.