Research on real-time positioning of underwater robot based on ORB-SLAM2 algorithm

doi:10.13474/j.cnki.11-2246.2019.0375

Bulletin of Surveying and Mapping ›› 2019, Vol. 0 ›› Issue (12): 1-7.doi: 10.13474/j.cnki.11-2246.2019.0375

Research on real-time positioning of underwater robot based on ORB-SLAM2 algorithm

ZHANG Yang^1,2,3, LI Haisen^1,2,3, MA Li⁴, WANG Jian^1,2,3, GUO Qijia^1,2,3, QI Jing⁵, YAN Ming⁶

1. College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin, 150001, China;
2. Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China;
3. Key Laboratory of Marine Information Acquisition and Security(Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China;
4. School of Information Engineering, China University of Geosciences, Beijing 100083, China;
5. School of Geomatics and Marine Information, Jiangsu Ocean University, Lianyungang 222005, China;
6. School of Mechanics and Engineering Science, Shanghai University, Shanghai 200444, China

Received:2019-03-28 Revised:2019-10-25 Published:2020-01-03

Abstract

Abstract: With the rapid development of visual SLAM in recent years, it provides more choices for navigation and positioning of robots, drones, and automobiles. Aiming at the problems of complex systems and difficult operation of current underwater robot positioning technology, this paper proposes an underwater positioning scheme based on ORB-SLAM2 algorithm. Using the monocular camera as the sensor, the monocular vision SLAM underwater robot positioning model is constructed, and the conversion from pixel coordinate system to world coordinate system is completed. The key technologies involved in ORB-SLAM2 algorithm positioning are introduced. The underwater positioning performance of the ORB-SLAM2 algorithm is comprehensively evaluated by the underwater ideal environment experiment. The marine environment experiment proves that the ORB-SLAM2 algorithm can effectively locate the underwater robot in real time.

Key words: underwater robot, underwater positioning, SLAM, visual odometer, ORB-SLAM2

CLC Number:

P229

ZHANG Yang, LI Haisen, MA Li, WANG Jian, GUO Qijia, QI Jing, YAN Ming. Research on real-time positioning of underwater robot based on ORB-SLAM2 algorithm[J]. Bulletin of Surveying and Mapping, 2019, 0(12): 1-7.

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Research on real-time positioning of underwater robot based on ORB-SLAM2 algorithm

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