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Tightly-coupled Visual-DVL-Inertial Odometry for Robot-based Ice-water Boundary Exploration. (arXiv:2303.17005v2 [cs.RO] UPDATED)
cs.CV updates on arXiv.org arxiv.org
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and
Remotely Operated Vehicles (ROVs), are promising tools for collecting
biogeochemical data at the ice-water interface for scientific advancements.
However, state estimation, i.e., localization, is a well-known problem for
robotic systems, especially, for the ones that travel underwater. In this
paper, we present a tightly-coupled multi-sensors fusion framework to increase
localization accuracy that is robust to sensor failure. Visual images, Doppler
Velocity Log (DVL), Inertial Measurement Unit (IMU) and Pressure sensor are …
arxiv autonomous data exploration ice localization paper robot state systems tools travel water