Bi-objective bundle adjustment: towards large-scale visual sea-floor mapping with a minimal sensor suite

Warren, Michael, Corke, Peter, Pizarro, Oscar, William, Stefan, & Upcroft, Ben (2012) Bi-objective bundle adjustment: towards large-scale visual sea-floor mapping with a minimal sensor suite. In Smith, Ryan N. (Ed.) Workshop on Robotics for Environmental Monitoring , 11 July 2012, University of Sydney, NSW.

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Visual sea-floor mapping is a rapidly growing application for Autonomous Underwater Vehicles (AUVs). AUVs are well-suited to the task as they remove humans from a potentially dangerous environment, can reach depths human divers cannot, and are capable of long-term operation in adverse conditions. The output of sea-floor maps generated by AUVs has a number of applications in scientific monitoring: from classifying coral in high biological value sites to surveying sea sponges to evaluate marine environment health.

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156 since deposited on 16 Aug 2012
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ID Code: 53104
Item Type: Conference Paper
Refereed: No
Keywords: Bundle Adjustment, Visual Odometry, Autonomous Underwater Vehicle, Environmental Monitoring, Pose Estimation
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 [please consult the author]
Deposited On: 16 Aug 2012 03:48
Last Modified: 04 Feb 2013 03:12

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