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.RO2024
Online Refractive Camera Model Calibration in Visual Inertial Odometry
Mohit Singh, Kostas Alexis
This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying…