A sonar-GPS fusion system using FMT local alignment and EKF global optimization reduces mapping drift by 9.5% versus baseline and achieves sub-meter accuracy in oyster farm field trials.
A blending method for forward-looking sonar mosaicing handling intra- and inter-frame artifacts,
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Sonar-GPS Fusion for Seabed Mapping in Turbid Shallow Waters with an Autonomous Surface Vehicle
A sonar-GPS fusion system using FMT local alignment and EKF global optimization reduces mapping drift by 9.5% versus baseline and achieves sub-meter accuracy in oyster farm field trials.