Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar

arXiv:2609.24195 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Accuracy — 6× in this paper · explained in 1 episode
• Adaptive Connection — 3× in this paper
• Consistency — 3× in this paper · explained in 3 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Feature Extraction — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes

Sources

• SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping

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