BESTAnP decouples the acoustic-n-point problem into range-based translation and azimuth-based rotation estimation, yielding the first closed-form six-degree sonar pose solution with asymptotic CRLB optimality.
Object recognition in forward looking sonar images using transfer learning,
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BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem
BESTAnP decouples the acoustic-n-point problem into range-based translation and azimuth-based rotation estimation, yielding the first closed-form six-degree sonar pose solution with asymptotic CRLB optimality.