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Benthic imaging AUVs can deliver down-looking imagery with consistent altitude and illumination. These images are well suited to image matching routines that form the basis for mosaicking, vision-based Simultaneous Localisation and Mapping (SLAM) and 3D visual reconstructions. We show how these same visual constraints can be used to (1) improve the real time dead-reckoning accuracy of AUVs equipped...
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