IMU-Aided Stereo Visual Odometry for Ground-Tracking AUV Applications

Marc Hildebrandt

In: Proceedings of OCEANS 10 IEEE. OCEANS MTS/IEEE Conference (OCEANS-10) Showcasing Advances in Marine Science and Engineering May 24-27 Sydney Australia 5/2010.


This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the performance in respect to precision and computational cost. As a conclusion, future extensions and applications are briefly discussed.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence