High resolution, consistent navigation and 3D optical reconstructions from AUVs using magnetic compasses and pressure-based depth sensors

Abstract

Benthic imaging AUVs can deliver down-looking imagery with consistent altitude and illumination. These images are well suited to image matching routines that form the basis for mosaicking, vision-based Simultaneous Localisation and Mapping (SLAM) and 3D visual reconstructions. We show how these same visual constraints can be used to (1) improve the real… (More)

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Cite this paper

@article{Jakuba2010HighRC, title={High resolution, consistent navigation and 3D optical reconstructions from AUVs using magnetic compasses and pressure-based depth sensors}, author={Michael V. Jakuba and Oscar Pizarro and Stefan B. Williams}, journal={OCEANS'10 IEEE SYDNEY}, year={2010}, pages={1-9} }