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View all- Di Ciaccio FTroisi SRusso P(2024)DC-DOES: A Dual-Camera Deep Learning Approach for Robust Orientation Estimation in Maritime EnvironmentsIEEE Access10.1109/ACCESS.2024.348285012(161637-161648)Online publication date: 2024
VISS-CF: Visual-Inertial Odometry and Sonar Fused SLAM Framework with Enhanced Corner Feature Matching for Underwater Environment
Authors: 
Yiqiang Zhang, Xinrong Chen, Lizheng Wei, Jiaxing Che, Peichu Liu, Jun-Hong CuiAuthors Info & Claims
Article No.: 5, Pages 1 - 5
Abstract
Underwater simultaneous localization and mapping (SLAM) constitutes a critical foundation for marine vehicle navigation. However, underwater SLAM faces challenges such as high motion distortion and low matching efficiency. In response to this, we introduce a visual-inertial odometry (VIO) and sonar fused SLAM framework with enhanced corner feature matching. Initially, we employ VIO to remove the motion distortion. Additionally, we design a localized corner feature matching mechanism to enhance iterative closest point (ICP) SLAM, aiming to increase both the matching frequency and precision. Experimental results demonstrate that our approach outperforms the compared methods in terms of performance.
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Published In
November 2023
239 pages
ISBN:9798400716744
DOI:10.1145/3631726
Copyright © 2023 ACM.
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Published: 12 June 2024
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WUWNet 2023
WUWNet 2023: The 17th International Conference on Underwater Networks & Systems
November 24 - 26, 2023
Shenzhen, China
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Overall Acceptance Rate 84 of 180 submissions, 47%
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View all- Di Ciaccio FTroisi SRusso P(2024)DC-DOES: A Dual-Camera Deep Learning Approach for Robust Orientation Estimation in Maritime EnvironmentsIEEE Access10.1109/ACCESS.2024.348285012(161637-161648)Online publication date: 2024
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