A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures
This paper presents a multi-session monocular Simultaneous Localization and Mapping (SLAM) approach focused on underwater environments. The system is composed of three main blocks: a visual odometer, a loop detector, and an optimizer. Single session loop closings are found by means of feature matchi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-08-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/7/8/278 |