低コスト自律水中ロボット向けのパッシブセンサのみを用いた効果的な視覚慣性SLAM
Towards Effective Visual-Inertial SLAM with Passive-Only Sensors for Low-Cost Autonomous Underwater Vehicles
1万ドル以下の民生センサのみを搭載した低コストAUVで、ステレオカメラ・MEMS IMU・深度センサを用いた6自由度の視覚慣性SLAMを評価し、既存SLAMパッケージの最適化により実用的なナビゲーションが可能であることを示した。
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著者: Grant Schwidder, David Widhalm, Junaed Sattar
分類: cs.RO
原文アブストラクト
Improvements to Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) for low-cost autonomous underwater vehicles (AUVs) are critical for transitioning advanced marine robotics from specialized labs to broader research and hobbyist applications. While high-end AUVs typically rely on expensive sensor suites - such as Doppler Velocity Logs (DVLs) and Ultra-Short Baseline (USBL) systems - this work demonstrates that robust, high-quality navigation is achievable using a sub-$10, 000(USD) platform equipped only with inexpensive consumer-grade sensors. By leveraging a similarly priced, open-source AUV, we evaluate the performance of stereo cameras, Micro-electromechanical System (MEMS)-based IMUs, and depth sensors in a fully unconstrained 6-degree-of-freedom (6-DOF) underwater environment. We analyze the efficacy of off-the-shelf SLAM packages and propose optimizations for sensor fusion to mitigate the visual and physical challenges of untethered underwater operation. Our results prove that a usable SLAM solution can be accessible to the masses, providing a benchmark for expectations in demanding, real-time maritime missions without the financial barrier of industrial-grade hardware.