Author: Weidner
Year: 2017
- Volumetric model with stereo and light beam
- In underwater robotic: 2.5D maps or image mosaics for SLAM
- Interesting related works
- Problem of lighting variations beacause of divers light beam: brightness Constancy Constraint is violated
- contour tracking: Canny edge detector on a thresholded binary image to select the area of the light beam
- sparse reconstruction: Stereo matching with SURF descriptor and epipolar search on contour pixels
- dynamic environnement with bubbles
- Visual odometry performed with OrbSLAM2