论文标题
高清，廉价的水下映射
High Definition, Inexpensive, Underwater Mapping
论文作者
论文摘要
在本文中，我们提出了一个完整的框架，用于使用一个廉价的传感器使用一个廉价的传感器。近年来，即使在水下领域的挑战性条件下，动作摄像机的成像技术也在产生惊人的结果。 GOPRO 9相机提供了与单个MP4文件中编码的惯性测量单元（IMU）数据流同步的高清视频。每个环闭合后，可增强视觉惯性大满贯框架以调整地图。在南卡罗来纳州海岸的人工残骸以及佛罗里达州的洞穴和洞穴中收集的数据表明，在各种条件下，拟议方法的稳健性。
In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing stunning results even under the challenging conditions of the underwater domain. The GoPro 9 camera provides high definition video in synchronization with an Inertial Measurement Unit (IMU) data stream encoded in a single mp4 file. The visual inertial SLAM framework is augmented to adjust the map after each loop closure. Data collected at an artificial wreck of the coast of South Carolina and in caverns and caves in Florida demonstrate the robustness of the proposed approach in a variety of conditions.
