Real-Time Appearance Based Mapping using Visual Sensor for Unknown Environment

Abstract Underwater environment is one of the most challenging areas when considering scene reconstruction and mapping, feature extraction etc. GPS usage denied in underwater a waterproof lidar also not cost-effective solution to map localize. Lidar-based simultaneous localization mapping (SLAM) are preferred budget-constrained applications. So, visual-slam (V-SLAM) approach called Real-Time Appearance Based Mapping (RTAB-Map) used reconstruct view scenario, i.e., localize camera environment. In this work, Intel Real Sense D455 depth with inbuilt inertial measurement unit (IMU) for reconstruction. order get better visualization, it needs high performance embedded computer. Here, Jetson Nano computer robot operating system used. Experiment conducted 3-D help RTAB technique IMU localized unknown Then various depth, point clouds, odometry camera, visual object information extracted indoor