3 accepted papers
This paper presents an adaptive heading approach for perception awareness during trajectory following. By adapting the heading of a robot to improve the feature tracking in the current mapped environment, the accuracy in localisation can be improved. This can have a significant advantage for autonom
In this paper, we propose an approach for robust visual Simultaneous Localisation and Mapping (SLAM) in underwater environments leveraging acoustic, inertial and altimeter/depth sensors. Underwater visual SLAM is challenging due to factors including poor visibility caused by suspended particles in w…
Underwater scenarios are challenging for visual Simultaneous Localization and Mapping (SLAM) due to limited visibility and intermittently losing structures in image views. In this paper, we propose a visual acoustic bundle adjustment system which fuses a camera and a Doppler Velocity Log (DVL) in a…