/Axial-underwater-egomotion

Drift Reduction in Underwater Egomotion Computation By Axial Camera Modeling

The implementation of the axial egomotion model described in our paper will be uploaded soon.

VAROS Synthetic Dataset Sequence [1]

Sequence Perspective represntation Axial represntation

Seafloor Dataset [2]

Sequence Perspective represntation Axial represntation

Shipwreck Dataset [3]

Sequence Perspective represntation Axial represntation

Datasets

[1] P. G. O. Zwilgmeyer, M. Yip, A. L. Teigen, R. Mester, and A. Stahl, “The varos synthetic underwater data set: Towards realistic multi-sensor underwater data with ground truth,” in Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, October 2021, pp. 3722–3730.

[2] Y. Gutnik, A. Avni, T. Treibitz, and M. Groper, “On the adaptation of an auv into a dedicated platform for close range imaging survey missions,” Journal of Marine and Engineering, vol. 10, no. 7, p. 974, 2022.

[3] A. Quattrini Li, A. Coskun, S. M. Doherty, S. Ghasemlou, A. S. Jagtap, M. Modasshir, S. Rahman, A. Singh, M. Xanthidis, J. M. O’Kane et al., “Experimental comparison of open source vision-based state estimation algorithms,” in International Symposium on Experimental Robotics. Springer, 2016, pp. 775–786.