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Large-area visually augmented navigation for autonomous underwater vehicles
(Massachusetts Institute of Technology, 2005)
This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting ...
Self consistent bathymetric mapping from robotic vehicles in the deep ocean
(Massachusetts Institute of Technology, 2005)
Obtaining accurate and repeatable navigation for robotic vehicles in the deep ocean is difficult and consequently a limiting factor when constructing vehicle-based bathymetric maps. This thesis presents a methodology to ...