Tightly-Coupled Visual-DVL Fusion For Accurate Localization of Underwater Robots
Yupei Huang,Peng Li,Shuaizheng Yan,Yaming Ou,Zhengxing Wu,Min Tan,Junzhi Yu,Yupei Huang,Peng Li,Shuaizheng Yan,Yaming Ou,Zhengxing Wu,Min Tan,Junzhi Yu
This paper proposes a tightly-coupled visual-Doppler-Velocity-Log (visual-DVL) fusion method for underwater robot localization through integrating the velocity measurements from a DVL into a visual odometry (VO). Considering that employing the DVL measurements in dead-reckoning systems easily leads to error accumulation and suboptimal results in previous works, we directly integrate them into the ...
