IMU-Aided Stereo Visual Odometry for Ground-Tracking AUV Applications

Zusammenfassung (Abstract) :

This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the performance in respect to precision and computational cost. As a conclusion, future extensions and applications are briefly discussed.