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Monocular Visual-Inertial-Pressure fusion for Underwater localization and 3D mapping.

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Table 4.1 presents the final drift at the end of the trajectory for each method.
Table 5.1 displays the absolute trajectory errors obtained on the first dataset.
Table 5.2 displays the absolute trajectory errors obtained on the second dataset. On this dataset, because there is a big misalignment between the camera’s z-axis and the depth axis (about 30 degrees), the influence of the different strategies and configur
Table 5.3 and Table 5.4 display the absolute trajectory errors obtained on each dataset

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