Yupei Huang

Tightly-Coupled Visual-DVL Fusion For Accurate Localization of Underwater Robots

This paper proposes a tightly-coupled visual-Doppler-Velocity-Log (visual-DVL) fusion method for underwater robot localization through integrating the velocity measurements from a DVL into a visual odometry (VO). Considering that employing the DVL measurements in dead-reckoning systems easily leads…