Bathymetric Pose Graph Optimization With Regularized Submap Matching
The quality of sonar seabed mapping performed using autonomous underwater vehicles depends on the accuracy of the vehicle trajectory estimation. To reduce the accumulated pose estimation errors from dead reckoning, bathymetry observations from sonar sensors are often exploited within the framework o...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9737125/ |