We review the use of factor graphs for the modeling and solving of large-scale inference
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …

Underwater terrain aided navigation (TAN) has shown its potential to yield accurate
navigational results for long-term operation of underwater vehicles. Due to its independence …

Bathymetric simultaneous localization and mapping (SLAM) methods have shown their
potential in deep-sea navigation and mapping for autonomous underwater vehicles (AUVs) …

Due to the position drift of inertial navigation systems, it is still challenging to achieve long-
term and accurate position estimates during underwater navigation. The seabed topography …

Using autonomous underwater vehicles (AUVs) for mapping underwater topography of sea-
ice and icebergs, or detecting keels of ice ridges, is foreseen as enabling technology in …

Existing bathymetric simultaneous localization and mapping (SLAM) methods predominantly
rely on odometry information for loop closure detection, which has a deteriorating …

Both higher efficiency and cost reduction can be gained from automating bathymetric
surveying for offshore applications such as pipeline, telecommunication or power cables …

This paper presents a new feature-based framework for bathymetric simultaneous
localization and mapping (SLAM), called the TTT SLAM. In the frontend of the SLAM …

Localization for underwater robots remains a challenging issue. Typical sensors, such as
Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and …

With dead-reckoning from velocity sensors, AUVs may construct short-term, local bathymetry
maps of the sea floor using multibeam sensors. However, the position estimate from dead …