说明：  基于多传感器的自治潜水器定位和创建地图方法 摘要：利用传感器间的外标定方法，把成像声纳的特征元素转换到相机坐标系中，再利用计算机视觉领域的struction fron motion 方法进行求解。
(Multi-sensor based on the autonomy of underwater vehicle position and the creation of the map method Abstract: The use of outside inter-sensor calibration method, the characteristics of the sonar imaging element to the camera coordinate system conversion, the re-use the field of computer vision methods struction fron motion to solve.)