Confidence-gated Q/R covariance scheduling on one continuous EKF modestly but consistently improves BlueROV2 pool dead reckoning over a single global noise profile.
IMU preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation,
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Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Confidence-gated Q/R covariance scheduling on one continuous EKF modestly but consistently improves BlueROV2 pool dead reckoning over a single global noise profile.