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2018Sonar Visual Inertial SLAM of Underwater Structures.pdf
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上传时间: 2020-04-07
详细说明：Abstract— This paper presents an extension to a state of
the art Visual-Inertial state estimation package (OKVIS) in
order to accommodate data from an underwater acoustic
sensor. Mapping underwater structures is important in several
fields, such as marine archaeology, search and rescue, resource
management, hydrogeology, and speleology. Collecting the data,
however, is a challenging, dangerous, and exhausting task. The
underwater domain presents unique challenges in the quality of
the visual data available; as such, augmenting the exteroceptive
sensing with acoustic range data results in improved reconstructions of the underwater structures. Experimental results from
underwater wrecks, an underwater cave, and a submerged bus
demonstrate the performance of our approach.
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