Underwater Monocular Image Depth Estimation using Single-beam Echosounder
Monika Roznere,Alberto Quattrini Li,Monika Roznere,Alberto Quattrini Li
This paper proposes a methodology for real-time depth estimation of underwater monocular camera images, fusing measurements from a single-beam echosounder. Our system exploits the echosounder's detection cone to match its measurements with the detected feature points from a monocular SLAM system. Such measurements are integrated in a monocular SLAM system to adjust the visible map points and the s...
