DISO: Direct Imaging Sonar Odometry
Shida Xu,Kaicheng Zhang,Ziyang Hong,Yuanchang Liu,Sen Wang,Shida Xu,Kaicheng Zhang,Ziyang Hong,Yuanchang Liu,Sen Wang
This paper introduces a novel sonar odometry system that estimates the relative spatial transformation between two sonar image frames. Considering the unique challenges, such as low resolution and high noise, of sonar imagery for odometry and Simultaneous Localization and Mapping (SLAM), the proposed Direct Imaging Sonar Odometry (DISO) system is designed to estimate the relative transformation be...
