Bathymetric Pose Graph Optimization with Regularized Submap Matching
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DOI: 10.1109/access.2022.3160190
Abstract: 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… read more here.
Keywords: pose graph; graph optimization; regularized submap; optimization regularized ... See more keywords