Real-Time Dense 3D Mapping of Underwater Environments
Weihan Wang,Bharat Joshi,Nathaniel Burgdorfer,Konstantinos Batsosc,Alberto Quattrini Lid,Philippos Mordohaia,Ioannis Rekleitisb,Weihan Wang,Bharat Joshi,Nathaniel Burgdorfer,Konstantinos Batsosc,Alberto Quattrini Lid,Philippos Mordohaia,Ioannis Rekleitisb
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external forces, limited visibility, and absence of global positioning. Obstacle avoidance and effective path planning require online dense reconstructions of the enviro...
