Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Underwater 3D Mapping: Experiences and Lessons learned
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Polygonal Meshing for 3D Stereo Video Sensor Data
CRV '08 Proceedings of the 2008 Canadian Conference on Computer and Robot Vision
Generating Semantic Information from 3D Scans of Crime Scenes
CRV '08 Proceedings of the 2008 Canadian Conference on Computer and Robot Vision
Gait Synthesis for Legged Underwater Vehicles
ICAS '09 Proceedings of the 2009 Fifth International Conference on Autonomic and Autonomous Systems
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Sensorslam: an investigation into sensor parameter estimation for slam
Sensorslam: an investigation into sensor parameter estimation for slam
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The underwater environment presents many challenges for robotic systems and sensors. Not only is it difficult to determine appropriate locomotive and control strategies, sensing underwater is plagued by highly variable lighting, dynamic objects, and suspended particulate matter. Despite these challenges the aquatic environment presents many real and practical applications for autonomous robots. Fundamentally, these tasks require knowledge of the 3D environment, the robot's location within the environment, and reactive vehicle control. In this paper we describe solutions to the problem of providing effective control of underwater robotic systems that can be used to obtain accurate models of underwater structures. Two specific components of the research are described here: (i) a 3D stereo-vision sensor that integrates stereo vision imagery with inertial measurements, and (ii) a tablet-based control interface that can be used to control the process of data collection.