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Article | 27-January-2020

Improved Stereo Vision Robot Locating and Mapping Method

and few feature points. Aiming at the problems of the above-mentioned visual SLAM system, this paper proposes an algorithm that fuses IMU and SLAM. Through the fusion of IMU, it can provide a good initial pose for the system. At the same time, during the camera movement process, it makes up for the shortcomings of visual SLAM, ensuring the accuracy of the camera pose estimation in the case of fast camera movement and lack of environmental texture. II. RELATED WORKS A. Camera coordinate system

Yu Haige, Yu Fan, Wei Yanxi

International Journal of Advanced Network, Monitoring and Controls, Volume 4 , ISSUE 4, 47–55

research-article | 30-November-2020

Development of Low Cost Autonomous Underwater Vehicle Platform

accuracy of its magnetic sensor, which is believed to be the leading cause of error. There are three different causes of errors: the magnetic interference of the vehicle with itself or the environment (Ye et al., 2009), the compensation of the roll and pitch dependent on gravity, and finally, the orientation of the compass mounting within the vehicle. Stutters indicated that the Inertial Navigation Device (INS) or Inertial Management Unit (IMU) utilizes accelerometers and gyroscopic sensors to detect

Osama Hassanein, G. Sreenatha, S. Aboobacker, Shaaban Ali

International Journal on Smart Sensing and Intelligent Systems, Volume 14 , ISSUE 1, 1–22

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