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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Yi-Hao Wang

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2026

WHF-VIO: Wave-Aware Height Factor for Robust Visual–Inertial Odometry of Unmanned Surface Vehicles

In global navigation satellite system (GNSS)-denied conditions, long-duration state estimation of unmanned surface vehicles (USVs) is prone to drift accumulation, especially in the vertical direction where observability is weak over near-planar motions. To improve localization accuracy and robustness in water-surface e...

Ao Shen, Shicheng Yang, Rao Kuang et al. · 0 citations

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