Image-Based Navigation of Autonomous Underwater Robot and 3D Reconstruction of Environment

摘要

An approach to solving the problem of navigation an autonomous underwater robot by video stream in the conditions of local maneuvering is described. The approach is based on the using of the visual odometry method by stereo images and a virtual network for coordinate referencing. To increase the accuracy of the calculation of local movements of the robot, an original algorithm for tracing features on images taking into account past frames is proposed. The proposed method for solving the problem of 3D reconstruction of environment objects from images is described also.