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

arXiv:2609.18893 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Accuracy — 12× in this paper · explained in 1 episode
• Inverse Compositional — 12× in this paper
• Alignment — 10× in this paper · explained in 1 episode
• Forward-Looking Sonar — 10× in this paper
• Feature Extraction — 5× in this paper · explained in 2 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Forward Compositional — 4× in this paper
• Computational overhead — 3× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Inertial Measurement Unit — 3× in this paper
• Robustness — 3× in this paper · explained in 5 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Doppler Velocity Log — 2× in this paper
• Alignment Methods — 1× in this paper · explained in 1 episode
• Autonomous Underwater Vehicle — 1× in this paper
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Exponential Moving Average — 1× in this paper
• Exponential Moving Average (EMA) — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Global Positioning System — 1× in this paper
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Objective Function — 1× in this paper · explained in 2 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Simultaneous Localization and Mapping — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes

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