AQUA-SLAM: Tightly Coupled Underwater Acoustic-Visual-Inertial SLAM With Sensor Calibration

Shida Xu; Kaicheng Zhang; Sen Wang

doi:10.1109/tro.2025.3554396

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JOURNAL ARTICLE

AQUA-SLAM: Tightly Coupled Underwater Acoustic-Visual-Inertial SLAM With Sensor Calibration

Shida Xu Kaicheng Zhang Sen Wang

Year: 2025 Journal: IEEE Transactions on Robotics Vol: 41 Pages: 2785-2803 Publisher: Institute of Electrical and Electronics Engineers

DOI: 10.1109/tro.2025.3554396

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Keywords:

Simultaneous localization and mapping Calibration Computer vision Artificial intelligence Computer science Underwater Inertial frame of reference Inertial measurement unit Mobile robot Acoustics Robot Geography Physics

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Topics

Underwater Vehicles and Communication Systems

Physical Sciences → Engineering → Ocean Engineering

Robotics and Sensor-Based Localization

Physical Sciences → Engineering → Aerospace Engineering

Underwater Acoustics Research

Physical Sciences → Earth and Planetary Sciences → Oceanography

AQUA-SLAM: Tightly Coupled Underwater Acoustic-Visual-Inertial SLAM With Sensor Calibration

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