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.
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography,
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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.