Underwater Visual Acoustic SLAM with Extrinsic Calibration
Shida Xu,Tomasz Luczynski,Jonatan Scharff Willners,Ziyang Hong,Kaicheng Zhang,Yvan R. Petillot,Sen Wang,Shida Xu,Tomasz Luczynski,Jonatan Scharff Willners,Ziyang Hong,Kaicheng Zhang,Yvan R. Petillot,Sen Wang
Underwater scenarios are challenging for visual Simultaneous Localization and Mapping (SLAM) due to limited visibility and intermittently losing structures in image views. In this paper, we propose a visual acoustic bundle adjustment system which fuses a camera and a Doppler Velocity Log (DVL) in a graph SLAM framework for reliable underwater localization and mapping. In order to fuse the vision w...
