IMU-Aided Stereo Visual Odometry for Ground-Tracking AUV Applications
Marc Hildebrandt
In Proceedings of OCEANS 10 IEEE, (OCEANS-10), 24.5.-27.5.2010, Sydney, o.A., May/2010.

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.

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