Vision-Based Underwater SLAM for the SPARUS AUV
نویسندگان
چکیده
An overview of underwater SLAM implementations as well as submapping SLAM approaches is given in this paper. Besides, the implementation of the so called selective submap joining SLAM on the SPARUS AUV is presented. SPARUS carries a down-looking optical camera. The information gather by this camera is run through SLAM, together with on-board navigation sensors, producing a precise localization of the vehicle and a consistent final map. Experimental validation on a real dataset is described, showing a promising performance of our implementation.
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تاریخ انتشار 2011