X-band radar based SLAM in Singapore's off-shore environment by Hover, Franz S., Patrikalakis, Nicholas M., Mullane, John Stephen, Keller, Samuel, Rao, Akshay, Adams, Martin, Yeo, Anthony

“…This paper presents a simultaneous localisation and mapping (SLAM) algorithm implemented on an autonomous sea kayak with a commercial off-the-shelf X-band marine radar mounted. …”
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