Luke Horgan

Mapping Pamir: Multi-Session Visual/Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck

This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth recordings from a dive computer. SVIn2, an open-source VI-SLAM framework is utilized to generate a trajectory and a sparse…