外观
论文arXiv 2609.210151 个月前
面向低成本自主水下航行器的仅被动传感器有效视觉-惯性SLAM
原文链接：Towards Effective Visual-Inertial SLAM with Passive-Only Sensors for Low-Cost Autonomous Underwater Vehicles（arXiv 2609.21015 · 发布日期：2026-09-17）
Towards Effective Visual-Inertial SLAM with Passive-Only Sensors for Low-Cost Autonomous Underwater Vehicles
面向低成本AUV水下VI-SLAM，评估现成SLAM并优化传感器融合，在非受限6-DOF水下环境验证。
核心要点
- 低成本AUV难以依赖DVL、USBL等昂贵套件，需要可负担的水下导航方案。
- 系统使用消费级立体相机、MEMS IMU与深度传感器，并分析现成SLAM包。
- 提出传感器融合优化，以缓解无缆水下运行中的视觉和物理挑战。
- 结果表明无需工业级硬件也可获得可用SLAM，并为实时海事任务提供基准预期。
验证范围与局限：验证范围为开源低成本AUV在非受限6-DOF水下环境中的实验。
英文摘要 (Abstract)
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.
作者：Grant Schwidder, David Widhalm, Junaed Sattar
来源
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