现代信息科技2026，Vol.10Issue(12)：1-7,7.DOI:10.19850/j.cnki.2096-4706.2026.12.001
面向水下环境的视觉惯性SLAM前端改进研究
Front-End Improvement of Visual-Inertial SLAM for Underwater Environments
摘要
Abstract
To address the large fluctuation in feature point number and insufficient tracking stability of visual-inertial SLAM front-end caused by significant illumination variation and strong light scattering in underwater environments,this paper proposes an improved visual-inertial SLAM front-end method tailored for underwater applications.The proposed method uses the number of feature points as a feedback metric,establishes a scene feature baseline,and dynamically adjusts the parameters of contrast-limited adaptive histogram equalization to achieve adaptive enhancement under complex underwater lighting conditions.In addition,an improved ORB feature extraction strategy combined with a bidirectional optical flow consistency check is employed to reduce mismatched features induced by underwater noise and image degradation.Experiments conducted on the MCUVI underwater visual-inertial dataset demonstrate that the proposed method improves front-end feature tracking stability under various underwater illumination conditions,and achieves higher absolute trajectory accuracy and improved robustness compared with the original VINS-Mono on sequences where the system runs stably.关键词
水下视觉惯性SLAM/特征点反馈/特征跟踪Key words
underwater visual-inertial SLAM/feature point feedback/feature tracking分类
信息技术与安全科学引用本文复制引用
曹新城,郑世浩..面向水下环境的视觉惯性SLAM前端改进研究[J].现代信息科技,2026,10(12):1-7,7.
