Video SLAM tehnologija u podmorju

• Main Author: Vičević, Dominik
• Other Authors: Lerga, Jonatan
• Format: Bachelor Thesis
• Language: Croatian
• Published: Sveučilište u Rijeci. Tehnički fakultet. Zavod za računarstvo. 2022
• Subjects: TEHNIČKE ZNANOSTI. Računarstvo. Obradba informacija; TECHNICAL SCIENCES. Computing. Data Processing; SLAM; video SLAM; SLAM u podmorju; visual SLAM; SLAM in underwater environments; Kanala; sami
• Online Access: https://zir.nsk.hr/islandora/object/riteh:3228; https://urn.nsk.hr/urn:nbn:hr:190:107141; https://www.unirepository.svkri.uniri.hr/islandora/object/riteh:3228; https://www.unirepository.svkri.uniri.hr/islandora/object/riteh:3228/datastream/PDF

Korištenje SLAM tehnologije u podmorju podrazumijeva izazove zbog dinamičnosti podvodnih okolina. Zbog selektivne apsorpcije svjetla u moru, na većim dubinama se vidi sve manje boja. Cilj ovog rada je proučiti izradu podvodnih 3D modela video SLAM tehnologijom razdvajanjem slike na R, G, B kanale. Osim proučavanja izgradnje 3D modela, potrebno je opisati glavne značajke video SLAM tehnologije i prednosti i mane korištenja iste u podvodnim okruženjima. Zbog selektivne apsorpcije mora prva se gubi crvena boja (već na 5 metara dubine) i, kao takva, ne može se koristiti za izradu 3D modela. Dakle, mogu se koristiti zeleni i plavi kanal, no plavi se obično preferira. Zbog količine plave boje pod morem, najviše detalja slike se nalazi upravo u tom kanalu. U usporedbi s punom RGB slikom, najveći nedostatak plavog kanala leži u konzistenciji. Sami plavi kanal ne može imati detalja koliko i puna RGB slika, što odmaže lokalizaciji. The usage of SLAM technology in underwater environments presents unique challenges due to its dynamic nature. Because of the selective absorption of light by the sea, greater depths equate to a further loss of color. This thesis aims to study the creation of underwater 3D models using visual SLAM technology by splitting the image into separate R, G, B channels. In addition to studying the construction of 3D models, it is necessary to describe the main features of video SLAM technology and the advantages and disadvantages of using it in underwater environments. Due to the selective absorption of the sea, the red color is lost first (already at 5 meters), and as such, it cannot be used for creating 3D models. Both green and blue channels can be used, but blue is preferred. Because of the amount of blue colors under the sea, most details of the image are found in that channel. Compared to a full RGB image, the biggest drawback of the blue channel lies in consistency. The blue channel alone cannot achieve as much detail as a full RGB image, which corrupts the localization.