Robust Underwater Visual SLAM Fusing Acoustic Sensing
Elizabeth Vargas Raluca Scona Jonatan Scharff Willners Tomasz Luczynski Yu Cao Sen Wang Yvan R. Petillot Elizabeth Vargas Raluca Scona Jonatan Scharff Willners Tomasz Luczynski Yu Cao Sen Wang Yvan R. Petillot
In this paper, we propose an approach for robust visual Simultaneous Localisation and Mapping (SLAM) in underwater environments leveraging acoustic, inertial and altimeter/depth sensors. Underwater visual SLAM is challenging due to factors including poor visibility caused by suspended particles in water, a lack of light and insufficient texture in the scene. Because of this, many state-of-the-art ...