Preprint
Aug 2026
Contact-Aided Factor-Graph Localization for Underwater Sampling
Accurate state estimation for autonomous underwater vehicles performing close-range seafloor sampling remains challenging. In low-altitude operation, down-looking cameras over featureless planar seabeds produce scale ambiguity, lateral degeneracy, and inconsistent feature tracking. Meanwhile, inertial-Doppler Velocity...
Michele Grimaldi, Yosaku Maeda, H. Kakami et al.
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