Through-Water Stereo SLAM With Refraction Correction for AUV Localization.
Sudharshan SureshEric WestmanMichael KaessPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- simultaneous localization and mapping
- autonomous underwater vehicle
- mobile robot
- loop closing
- visual odometry
- map building
- visual slam
- dynamic environments
- data association
- particle filter
- mobile robotics
- stereo vision
- kalman filter
- robot navigation
- indoor environments
- stereo matching
- computer vision
- extended kalman filter
- stereo camera
- stereo images
- depth map
- early vision
- stereo pair
- image formation
- three dimensional
- real time
- situational awareness
- omni directional
- multi camera
- monocular slam
- outdoor environments
- water quality
- real environment
- position information
- depth information