High Definition, Inexpensive, Underwater Mapping

TL;DR

This paper introduces a complete underwater SLAM framework using a single inexpensive high-definition camera and IMU, demonstrating robustness in diverse underwater environments.

Contribution

It presents a novel visual inertial SLAM approach tailored for inexpensive underwater sensors, with loop closure adjustment for improved mapping accuracy.

Findings

Successful mapping of underwater environments including wrecks and caves

Robust performance demonstrated across different challenging conditions

Effective integration of high-definition video and IMU data

Abstract

In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing stunning results even under the challenging conditions of the underwater domain. The GoPro 9 camera provides high definition video in synchronization with an Inertial Measurement Unit (IMU) data stream encoded in a single mp4 file. The visual inertial SLAM framework is augmented to adjust the map after each loop closure. Data collected at an artificial wreck of the coast of South Carolina and in caverns and caves in Florida demonstrate the robustness of the proposed approach in a variety of conditions.