A vision-based underwater mapping pipeline that colors Voxblox TSDF maps with RAFT-Stereo depth confidence and replaces weight accumulation with a running average.
Online refractive camera model calibration in visual inertial odometry,
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Uncertainty Aware Mapping for Vision-Based Underwater Robots
A vision-based underwater mapping pipeline that colors Voxblox TSDF maps with RAFT-Stereo depth confidence and replaces weight accumulation with a running average.