A fault-tolerant multi-sensor underwater SLAM system combining inertial, acoustic, pressure, stereo vision, and laser structured light achieves continuous dense 3D mapping with 0.039 m trajectory RMSE in challenging field conditions.
Real-time visual slam for autonomous underwater hull inspection using visual saliency,
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An Underwater, Fault-Tolerant, Laser-Aided Robotic Multi-Modal Dense SLAM System for Continuous Underwater In-Situ Observation
A fault-tolerant multi-sensor underwater SLAM system combining inertial, acoustic, pressure, stereo vision, and laser structured light achieves continuous dense 3D mapping with 0.039 m trajectory RMSE in challenging field conditions.