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Monocular SLAM using reflections

Vision based nagivation in riverine environment

Here is the final result.
Visualization of the Path and Features in ROS/rviz.

Data set was collected from Boneyard Creek in UIUC Campus.
Boneyard Creek birds eye view.

Reflection Matching
Feature Detection, Matching, and Tracking.

Results
matlab result overlayed on google map image.

visualization in ROS/rviz.

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