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Article
Evolving Real-time Stereo Odometry for AUV Navigation in Challenging Marine Environments
Autonomous Underwater Vehicle (AUV) navigation and control modules often integrate as much sensory data as possible to increase accuracy in estimating pose and velocity. Visual odometry can be a good complement f...
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Article
An Unsupervised Neural Network for Loop Detection in Underwater Visual SLAM
Thispaper presents a Neural Network aimed at robust and fast visual loop detection in underwater environments. The proposal is based on an autoencoder architecture, in which the decoder part is being replaced ...
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Article
Global image signature for visual loop-closure detection
This work details a new method for loop-closure detection based on using multiple orthogonal projections to generate a global signature for each image of a video sequence. The new multi-projection function per...
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Chapter and Conference Paper
Stereo Graph-SLAM for Autonomous Underwater Vehicles
The increasing use of Autonomous Underwater Vehicles (AUV) in industrial or scientific applications makes the vehicle one of the challenging questions to consider for the mission success. Graph-SLAM has emerged...
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Article
Visual Navigation for Mobile Robots: A Survey
Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as locali...