接触辅助因子图定位的水下采样
Original title: Contact-Aided Factor-Graph Localization for Underwater Sampling
IndustryAI 65
Source: arXiv cs.ROPublish time unverified
arXiv:2608.26932v1 Announce Type: new Abstract: 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 Log (DVL) fusion alone provides no mechanism for structural drift correction.