Selective visual odometry for accurate AUV localization

In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so...

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Veröffentlicht in:	Autonomous robots 2017, Vol.41 (1), p.133-143
Hauptverfasser:	Bellavia, Fabio, Fanfani, Marco, Colombo, Carlo
Format:	Artikel
Sprache:	eng
Schlagworte:	Archaeology Artificial Intelligence Autonomous underwater vehicles Computer Imaging Control Engineering Localization Mechatronics Odometers Pattern Recognition and Graphics Robotics Robotics and Automation Tracks (paths) Vision
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