SOURCE-LINKED INTELLIGENCE
Contact-Aided Factor-Graph Localization for Underwater Sampling
Accurate state estimation for autonomous underwater vehicles performing close-range seafloor sampling remains challenging. In low-altitude operation, down-looking cameras over featureless planar seabeds produce scale ambiguity, lateral degeneracy, and inconsistent feature tracking. Meanwhile, inertial-Doppler Velocity Log (DVL) fusion alone provides no mechanism for structural drift correction. We propose a Contact-Aided Factor-Graph Localization framework that treats physical interaction as an informative geometric constraint within a smoothing-based localization formulation. The method tight
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-27T10:34:22.000Z
First collected: 2026-09-21T08:51:59.673Z. This is not the publication date.