Monocular Visual Odometry for Underwater Navigation : An examination of the performance of two methods

Sammanfattning: This thesis examines two methods for monocular visual odometry, FAST + KLT and ORBSLAM2, in the case of underwater environments.This is done by implementing and testing the methods on different underwater datasets. The results for the FAST + KLT provide no evidence that this method is effective in underwater settings. However, results for the ORBSLAM2 indicate that good performance is possible whenproperly tuned and provided with good camera calibration. Still, thereremain challenges related to, for example, sand bottom environments and scale estimation in monocular setups. The conclusion is therefore that the ORBSLAM2 is the most promising method of the two tested for underwater monocular visual odometry.