Visually Navigating the RMS Titanic with SLAM Information Filters

  title={Visually Navigating the RMS Titanic with SLAM Information Filters},
  author={Ryan M. Eustice and Hanumant Singh and John J. Leonard and Matthew R. Walter and Robert Ballard},
  booktitle={Robotics: Science and Systems},
This paper describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of underwater vehicles while exploiting the inertial sensor information that is routinely available on such platforms. We present a novel strategy for efficiently accessing and maintaining consistent covariance bounds within a SLAM information filter, thereby greatly increasing the reliability of data association. The technique is… CONTINUE READING
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