Visually Navigating the RMS Titanic with SLAM Information Filters

@inproceedings{Eustice2005VisuallyNT,
  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},
  year={2005}
}
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
Highly Influential
This paper has highly influenced 14 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 187 citations. REVIEW CITATIONS

7 Figures & Tables

Topics

Statistics

0102030'05'06'07'08'09'10'11'12'13'14'15'16'17'18
Citations per Year

188 Citations

Semantic Scholar estimates that this publication has 188 citations based on the available data.

See our FAQ for additional information.