High Definition, Inexpensive, Underwater Mapping [article]

Bharat Joshi, Marios Xanthidis, Sharmin Rahman, Ioannis Rekleitis
2022 arXiv   pre-print
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
more » ... 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.
arXiv:2203.05640v1 fatcat:twdkodjbg5ep7mgzrtuaiz2uqa