Tightly-Coupled Visual- DVL- Inertial Odometry for Robot-Based Ice-Water Boundary Exploration
Lin Zhao,Mingxi Zhou,Brice Loose,Lin Zhao,Mingxi Zhou,Brice Loose
Underwater robots, like Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for the exploration and study of the under-ice environment and the ecosystems that thrive there. However, state estimation is a well-known problem for robotic systems, especially, for the ones that travel underwater. In this paper, $w$e present a tightly-coupled multi-sensors fu...
