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这是一篇立体成像领域的英文文献This paper provides details on the de-velopment of a tool to aid in 3D coral reef mappingdesigned to be operated by a single diver and laterintegrated into an autonomous robot. We discuss is-sues that influence the deployment and developmentof underwater sensor technology for 6DOF hand-heldand robotic mapping. We describe our current un-derwater vision-based mapping system, some of ourexperiences, lessons learned, and discuss how thisknowledge is being incorporated into our underwa
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