SVIn2: An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor.
Sharmin RahmanAlberto Quattrini LiIoannis M. RekleitisPublished in: IROS (2019)
Keyphrases
- mobile robot
- sonar images
- autonomous underwater vehicle
- high resolution
- kalman filter
- object and scene recognition
- mobile robotics
- indoor environments
- visual information
- inertial sensors
- dynamic environments
- autonomous underwater vehicles
- data association
- visual perception
- path planning
- map building
- multi view
- computer vision