SOURCE-LINKED INTELLIGENCE

SOL-SLAM: Inverse Compositional Gauss-Newton Direct Registration for Fast Sonar-Only Local SLAM

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Autonomous underwater navigation typically relies on complex and expensive multi-modal sensor suites designed to prioritize global Simultaneous Localization and Mapping (SLAM) accuracy. However, local reactive behaviors such as coarse navigation and obstacle avoidance require only local consistency---a capability that should be feasible using only a Forward-Looking Sonar (FLS), yet remains largely unaddressed, leaving a critical gap in FLS-only local SLAM. Moreover, existing acoustic SLAM frameworks predominantly rely on sparse feature extraction methods that discard substantial portions of th

Read original source ↗ Open in workspace

recordType

paper

region

Global