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A robust loop-closure method for visual SLAM in unstructured seafloor environments

Autonomous robots, v.40 no.6, 2016년, pp.1095 - 1109  

Hong, Seonghun ,  Kim, Jinwhan ,  Pyo, Juhyun ,  Yu, Son-Cheol

Abstract AI-Helper 아이콘AI-Helper

This paper addresses the problem of visual simultaneous localization and mapping (SLAM) in an unstructured seabed environment that can be applied to an unmanned underwater vehicle equipped with a single monocular camera as the main measurement sensor. Monocular vision is regarded as an efficient sen...

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