Visual SLAM for underwater vehicles using video velocity log and natural landmarks

Joaquim Salvi, Yvan Petillot, Stephen Thomas, Josep Aulinas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

32 Citations (Scopus)


A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local submaps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local submaps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local submaps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system. © 2008 IEEE.

Original languageEnglish
Title of host publicationOCEANS 2008
Publication statusPublished - 2008
EventOCEANS 2008 - Quebec City, QC, Canada
Duration: 15 Sept 200818 Sept 2008


ConferenceOCEANS 2008
CityQuebec City, QC


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