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20182023
most citedExperimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain

1.1k citations · 1.2k across the 5 of their papers we have counts for

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cs.RO2018★ 132 cited

SVIn2: An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor

Sharmin Rahman, Alberto Quattrini Li, Ioannis Rekleitis

This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the un…