UniVIO: Unified Direct and Feature-Based Underwater Stereo Visual-Inertial Odometry.
Ruihang MiaoJiuchao QianYang SongRendong YingPeilin LiuPublished in: IEEE Trans. Instrum. Meas. (2022)
Keyphrases
- inertial sensors
- sensor fusion
- stereo matching
- computer vision
- position and orientation
- motion tracking
- visual perception
- stereo pair
- visual odometry
- early vision
- dynamic model
- stereo images
- visual features
- visual information
- stereo vision
- three dimensional
- high level
- multi camera
- depth map
- real time
- acoustic signal
- underwater acoustic
- object recognition
- video sequences
- kalman filter
- experimental data
- sensor networks
- image features
- mobile robot