Bundle Adjustment-Based Sonar-Inertial Odometry for Underwater Navigation.
Zhaoxin DongBufang LiWeisheng YanRongxin CuiPublished in: ROBIO (2022)
Keyphrases
- bundle adjustment
- autonomous underwater vehicle
- autonomous underwater vehicles
- structure from motion
- inertial sensors
- sonar images
- motion estimates
- multi view
- camera parameters
- camera motion
- point correspondences
- least squares
- levenberg marquardt
- obstacle avoidance
- nonlinear optimization
- underwater vehicles
- path planning
- reprojection error
- scene reconstruction
- stereo rig
- mobile robot
- maximum likelihood
- visual slam
- piecewise planar
- camera pose
- indoor environments
- visual odometry
- kalman filter
- multiple views
- essential matrices
- vision system
- three dimensional
- video sequences
- computer vision
- high quality
- missing data
- dynamic environments
- active learning