Evaluation of underwater vehicle's self-localization based on visual odometry or sensor odometry.
Yoshiki TanakaAkio SemmyoYuya NishidaShinsuke YasukawaJonghyun AhnKazuo IshiiPublished in: ICIIS (2019)
Keyphrases
- sensor fusion
- visual odometry
- mobile robot
- autonomous navigation
- inertial sensors
- inertial measurement unit
- underwater vehicles
- simultaneous localization and mapping
- long range
- ego motion
- real time
- kalman filtering
- position information
- depth images
- path planning
- camera pose
- extended kalman filter
- multi camera
- sensor data
- optical flow