An Open-Source, Fiducial-Based, Underwater Stereo Visual-Inertial Localization Method with Refraction Correction
Pengfei Zhang,Zhengxing Wu,Jian Wang,Shihan Kong,Min Tan,Junzhi Yu,Pengfei Zhang,Zhengxing Wu,Jian Wang,Shihan Kong,Min Tan,Junzhi Yu
Underwater visual localization is an essential technique for the autonomous operation of underwater robots. However, the unique underwater image characteristics, including refraction, sparse features, and severe noise, pose an enormous challenge to it. For addressing these issues, this paper proposes an open-source fiducial-based underwater stereo visual-inertial localization method under the exte...
