BlueROV2 Heavy ROS Package

If you use this code please consider citing us. This has been used to support many projects, a few below.

@inproceedings{
  title={Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction},
  author={John McConnell, John D. Martin and Brendan Englot},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2020},
  organization={IEEE}
}
@inproceedings{
  title={Predictive  3D  Sonar  Mapping  of  Underwater  Environments via  Object-specific  Bayesian  Inference},
  author={John McConnell and Brendan Englot},
  booktitle={IEEE/RSJ International Conference on Robotics and Automation (ICRA)},
  year={2021},
  organization={IEEE}
}
@inproceedings{
  title={Overhead Image Factors for Underwater  Sonar-based SLAM},
  author={John McConnell, Fanfei Chen and Brendan Englot},
  booktitle={Robotics and Automation Letters (RAL)},
  year={2022},
  organization={IEEE}
}

For more details please see the project wiki

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