Title: An underwater vehicle odometry scheme based on visual-inertial fusion

Authors: Yufan Wang

Addresses: Hebei Software Institute, Baoding, Hebei, China

Abstract: In order to solve the problems of underwater vehicle inaccurate odometry caused by uneven illumination, current floating and blurred vision in underwater vehicle perception, this paper proposes an underwater vehicle odometry scheme based on visual-inertial fusion. The camera and IMU are first calibrated through the calibration board to solve the parameters of the device, and the accuracy of the pose can be ensured. Then, the Visual-Inertial Odometry (VIO) system of underwater vehicle is designed to complete the fusion of camera information and IMU data. At the same time, an underwater shadow detection and removal algorithm is proposed to optimise the underwater information acquisition of the robot. Finally, this scheme is tested in various underwater data sets and different mainstream algorithms. The experimental results show that the proposed scheme has better accuracy and stability compared with the traditional algorithm.

Keywords: feature extraction; visual-inertial fusion; monocular camera; IMU; inertial measurement unit; computer vision.

DOI: 10.1504/IJCAT.2022.130873

International Journal of Computer Applications in Technology, 2022 Vol.70 No.3/4, pp.171 - 178

Received: 15 Jan 2022
Accepted: 21 Mar 2022
Published online: 13 May 2023 *

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