Papers › Robust Inertial-aided Underwater Localization based on Imaging Sonar Keyframes
Robust Inertial-aided Underwater Localization based on Imaging Sonar Keyframes
Yang Xu, Ronghao Zheng, Senlin Zhang, Meiqin Liu
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in sonar images may introduce wrong feature matches or insufficient features for optimization-based underwater localization (i.e. under-constrained/degeneracy cases). This motivates us to propose a novel inertial-aided sliding window optimization framework to improve the estimation accuracy and the robustness to front-end outliers. Concretely, we first discriminate under-constrained/ well-constrained sonar frames and define sonar keyframes (SKFs) based on the Jacobian matrix derived from odometry and sonar measurements. To utilize the past well-constrained SKFs mostly, we design a size-adjustable windowed back-end optimization scheme based on singular values. We also prove that the landmark triangulation failure (navigation problem) caused by sonar motion can be solved in 2D scenes. Comparative simulation and evaluation on a public dataset show the proposed method outperforms the existing ones in pose estimation and robustness even without loop closure and also ensures the real-time performance for online applications.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections