Towards Effective Visual-Inertial SLAM with Passive-Only Sensors for Low-Cost Autonomous Underwater Vehicles

arXiv:2609.21015 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Accuracy — 7× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Extended Kalman Filter — 2× in this paper
• Inertial Navigation System — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Simultaneous Localization and Mapping — 2× in this paper
• Alignment — 1× in this paper · explained in 1 episode
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Inertial Measurement Unit — 1× in this paper
• Root Mean Square Error — 1× in this paper
• Software Development Kit — 1× in this paper

Sources

• VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction

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