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In this paper the monocular visual odometry algorithm augmented with pose graph optimization is presented. The algorithm was tested using five different combinations of feature extractors and descriptors and evaluated using two challenging datasets from KITTI database. The main result of this study is that the implementation of pose graph optimization may lead to reduction of position error ranging...
Under the influence of the lighting condition and some character of water media, the underwater images have low contrast, unbalance gray scales, fuzzy edge of objects and large quantity of noise which will appear with the movement of vehicle. For the mentioned above factors, when traditional methods are used to dispose underwater images, the regions of objects can’t be located exactly, details of...
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