STERN uses factor graphs to unify modeling of trajectory estimation and relative navigation for AUV proximity operations, demonstrated on long-distance acoustic homing to a moving mothership with simulated and real datasets.
Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors,
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STERN: Simultaneous Trajectory Estimation and Relative Navigation for Autonomous Underwater Proximity Operations
STERN uses factor graphs to unify modeling of trajectory estimation and relative navigation for AUV proximity operations, demonstrated on long-distance acoustic homing to a moving mothership with simulated and real datasets.