2 papers
cs.RO2025
DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry
Mohit Singh, Kostas Alexis
This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural netwo…
cs.RO2023
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is f…