Visual-Based Position Estimation for Underwater Vehicles Using Tightly Coupled Hybrid Constrained Approach

Visual-Based Position Estimation for Underwater Vehicles Using Tightly Coupled Hybrid Constrained Approach

A tightly coupled hybrid monocular visual SLAM system for unmanned underwater vehicles (UUVs) is introduced in this paper. Specifically, we propose a robust three-step hybrid tracking strategy. The feature-based method initially provides a rough pose estimate, then the direct method refines it, and...

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Bibliographic Details
Main Authors: Tiedong Zhang, Shuoshuo Ding, Xun Yan, Yanze Lu, Dapeng Jiang, Xinjie Qiu, Yu Lu
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Journal of Marine Science and Engineering
Subjects:
visual SLAM
underwater optical
hybrid constrained
graph optimization
odometry
unmanned vehicles
Online Access:https://www.mdpi.com/2077-1312/13/7/1216
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