Visually augmented navigation in an unstructured environment using a delayed state history

  title={Visually augmented navigation in an unstructured environment using a delayed state history},
  author={Ryan M. Eustice and Oscar Pizarro and Hanumant Singh},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  pages={25-32 Vol.1}
This work describes a framework for sensor fusion of navigation data with camera-based 5 DOF relative pose measurements for 6 DOF vehicle motion in an unstructured 3D underwater environment. The fundamental goal of this work is to concurrently estimate online current vehicle position and its past trajectory. This goal is framed within the context of improving mobile robot navigation to support sub-sea science and exploration. Vehicle trajectory is represented by a history of poses in an… CONTINUE READING
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