Research on slam system for underwater vision based on improved image quality

Yijie Tang; Jin Wang

doi:10.1117/12.3035302

19 July 2024 Research on slam system for underwater vision based on improved image quality

Yijie Tang, Jin Wang

Proceedings Volume 13213, International Conference on Image Processing and Artificial Intelligence (ICIPAl 2024); 132133J (2024) https://doi.org/10.1117/12.3035302
Event: International Conference on Image Processing and Artificial Intelligence (ICIPAl2024), 2024, Suzhou, China

Abstract

This paper focuses on how SLAM can be improved to adapt to the harsh conditions of underwater environments. Compared with the common terrestrial environments, the use of visual SLAM systems in underwater environments will face the problems of light attenuation scattering and low visibility. In order to solve the problems of uneven light and blurred images faced by visual SLAM systems in underwater environments, we improved the visual part of the system by de-blurring the camera image to reduce the interference caused by underwater suspended objects. Histogram equalization is performed on the processed images to improve the visual feature point extraction by increasing the image contrast and reducing the effect of uneven lighting on the feature checker.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yijie Tang and Jin Wang "Research on slam system for underwater vision based on improved image quality", Proc. SPIE 13213, International Conference on Image Processing and Artificial Intelligence (ICIPAl 2024), 132133J (19 July 2024); https://doi.org/10.1117/12.3035302

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