Figure 4a. Trajectory with UW-SLAM, row 1 and 2 Turbidity sequence 3 and 4, column 1 without loop closer, column 2 with loop closer

From

Monocular Visual SLAM for Underwater Navigation in Turbid and Dynamic Environments

Chinthaka Amarasinghe, Asanga Ratnaweera, Sanjeeva Maitripala

American Journal of Mechanical Engineering. 2020, 8(2), 76-87 doi:10.12691/ajme-8-2-5