Tightly-Coupled Visual- DVL- Inertial Odometry for Robot-Based Ice-Water Boundary Exploration.
Lin ZhaoMingxi ZhouBrice LoosePublished in: IROS (2023)
Keyphrases
- control system
- tightly coupled
- inertial sensors
- position and orientation
- fine grained
- general purpose
- sensor fusion
- loosely coupled
- mobile robot
- unknown environments
- visual exploration
- motion tracking
- motion sequences
- vision system
- landmark recognition
- map building
- high level
- obstacle avoidance
- simultaneous localization and mapping
- inverse kinematics
- robotic systems
- pose estimation
- visual landmarks
- low level
- robot navigation
- human robot interaction
- humanoid robot
- water resources
- multi robot
- visual features
- position estimation
- rough terrain
- case study