APVI-SLAM: Real-Time Acoustic-Pressure-Visual-Inertial Localization and Photorealistic Mapping System in Complex Underwater Environment

Hanwen Zhang, Yipeng Zhu, Xiaopeng Guo +2

Extreme subsea environments often cause severe feature de-gradation and estimator divergence in underwater visual-inertial SLAM. Although sensors like Doppler Velocity Logs (DVL) a…