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Author

Huigang Wang

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3 papers indexed here

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Open access Aug 2026

RA-SIDO: Robust and Adaptive Sonar–Inertial–Depth Odometry for Consistent Underwater Acoustic 3D Mapping

Autonomous acoustic remote sensing of underwater infrastructure is challenging due to the physical characteristics of 3D sonar and the geometric degeneracy commonly encountered in feature-poor underwater environments. Accurate localization is essential for integrating sequential sonar observations into globally consist...

Yabei Guo, Huigang Wang, Wei Qiang et al. · 0 citations
2026

AET-LIO: An Adaptive Event-Triggered LiDAR–Inertial Odometry System for Localization and 3-D Reconstruction in Unmanned Surface Vehicle

Accurate localization and 3-D reconstruction are critical for unmanned surface vehicles (USVs) operating in dynamic marine environments. However, water surface reflections, global positioning system (GPS) interruptions, and motion disturbances caused by wind and waves significantly degrade LiDAR–inertial odometry (LIO)...

Yabei Guo, Huigang Wang, Wei Qiang et al. · 0 citations
Open access Nov 2025

Coarse-to-Fine Nonrigid Registration for Side-Scan Sonar Mosaicking

Side-scan sonar (SSS) mosaicking plays a crucial role in large-scale seabed mapping but is challenged by complex nonlinear, spatially varying distortions due to diverse sonar acquisition conditions. Existing rigid or affine registration methods fail to model such complex deformations, whereas traditional nonrigid techn...

Can Lei, Nuno Gracias, Rafael Garcia et al. · 0 citations

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