2018Sonar Visual Inertial SLAM of Underwater Structures.pdf
Abstract—Thispaperpresentsanextensiontoastateof
theartVisual-Inertialstateestimationpackage(OKVIS)in
ordertoaccommodatedatafromanunderwateracoustic
sensor.Mappingunderwaterstructuresisimportantinseveral
fields,suchasmarinearchaeology,searchandrescue,resource
man
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