arXiv:2403.08360
Improved Image-based Pose Regressor Models for Underwater Environments
Improved Image-based Pose Regressor Models for Underwater Environments
著者: Luyuan Peng, Hari Vishnu, Mandar Chitre, Yuen Min Too, Bharath Kalyan, Rajat Mishra
分類: cs.CV, cs.RO
原文アブストラクト
We investigate the performance of image-based pose regressor models in underwater environments for relocalization. Leveraging PoseNet and PoseLSTM, we regress a 6-degree-of-freedom pose from single RGB images with high accuracy. Additionally, we explore data augmentation with stereo camera images to improve model accuracy. Experimental results demonstrate that the models achieve high accuracy in both simulated and clear waters, promising effective real-world underwater navigation and inspection applications.