AUV robust bathymetric simultaneous localization and mapping

Bathymetric simultaneous localization and mapping (BSLAM) technique could provide long-term underwater navigation results for autonomous underwater vehicles (AUVs) and produce a self-consistent bathymetric map simultaneously. However, the inter-frame motion inside BSLAM is still difficult to estimate, and BSLAM might fail catastrophically with invalid loop closures caused by the measurement errors of vehicle states and bathymetric data. To deal...