Multi-session Underwater Pose-graph SLAM using Inter-session Opti-acoustic Two-view Factor
Hyesu Jang Sungho Yoon Ayoung Kim Hyesu Jang Sungho Yoon Ayoung Kim
Concurrent mapping necessitates data association among vehicles to overcome temporal and sensor modality differences. In this work, we focus on an underwater multi-vehicle mapping scenario in which vehicles have various sensor modalities, namely sonar and camera. This inter-session sonar-optical image matching poses two main challenges. First, ensuring covisibility for the opti-acoustic pair is co...