STERN uses factor graphs to unify modeling of trajectory estimation and relative navigation for AUV proximity operations, demonstrated on long-distance acoustic homing to a moving mothership with simulated and real datasets.
Visual navigation and docking for a planar type AUV docking and charging system
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STERN: Simultaneous Trajectory Estimation and Relative Navigation for Autonomous Underwater Proximity Operations
STERN uses factor graphs to unify modeling of trajectory estimation and relative navigation for AUV proximity operations, demonstrated on long-distance acoustic homing to a moving mothership with simulated and real datasets.