Abstract
Research findings on Robotics - Robotics and Automation are discussed in a new report. According to news reporting originating in Shenzhen, People's Republic of China, by NewsRx journalists, research stated, "In this work, we present an acoustic-visual-inertial navigation system (Acoustic-VINS) for underwater robot localization. Specifically, we address the problem of the global position of the underwater visual-inertial navigation system being inappreciable by tightly coupling the long baseline (LBL) system into an optimization-based visual-inertial SLAM." Financial support for this research came from Shenzhen Science and Technology Program. The news reporters obtained a quote from the research from Sun Yat-sen University, "In our proposed Acoustic-VINS, the reprojection error, IMU preintegration error, and raw LBL measurement error are jointly minimized within a sliding window factor graph framework. Furthermore, we propose an acoustic-aided initialization method to exhibit an accurate initial state for successful state estimation. Additionally, for wider application, we extend the sensor data of the real-world AQUALOC dataset to obtain the LBL- AQUALOC dataset."
NETL
NSTL
IEEE