, Cette section est consacrée à l'évaluation de méthodes directes et indirectes pour le suivi de points d'intérêts. Plus précisément, nous comparons la robustesse du suivi de points d'intérêts sur des images sous-marines présentant des effets de turbidité et peu de texture. FIGURE A.1: Images prises sur une épave antique (profondeur: 500 mètres, Credit: DRASSM (Département de Recherche en Archéologie Sub-aquatique et Sous-Marine)

. Cette and . Vo, Afin de fonctionner en temps-réel, UW-VO est divisé en deux threads: un thread de suivi de points et d'estimation de pose à la fréquence caméra et un thread gérant les tâches plus complexes et plus lourdes en temps de calcul de cartographie et d'optimization. Le fonctionnement d'UW-VO est résumé dans le schéma suivant : Nous avons comparé UW-VO à des méthodes de l'état de l'art en SLAM visuel monoculaire, et nous avons montré qu

, SLAM Vision-Pression-Inertiel pour une localisation sousmarine robuste

, Une limitation d'UW-VO est que l'échelle métrique des trajectoires n'est pas observable. Cela est dû au fait qu'UW-VO est une méthode qui utilise uniquement une caméra et n'a donc pas d'information directe sur la 3D des scènes imagées. De plus

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