ORB SLAM 3 Autonomous Surface Vessels Navigation with Water Surface Removal Algorithm

To achieve fully autonomous surface vessels (ASVs), navigation algorithms are one of the important components of autonomous surface vessels. Global Navigation Satellite System (GNSS) provides accurate navigation in opensky environments. However, its performance degrades when the sky is partially or fully obstructed by obstacles such as trees and tall bushes-common in near-shore areas. In such cases, signal blockage and multipath effects can lead to unreliable positioning. Additionally, satellite imagery or GNSS-based maps may lack the resolution and detail needed for precise navigation in these complex environments. In this situation, simultaneous localization and mapping (SLAM) algorithms, such as ORB-SLAM 3 is a suitable solution. However, water reflection can cause unwanted water surface points being mapped. In this paper, water segmentation algorithm is being introduced to aid ORB-SLAM 3 in achieving ASV navigation on water surface that have a lot of water reflection.