2 papers
cs.RO2026
The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization
Derek R. Benham, Joshua G. Mangelson
Coastal environments contain rich, largely unexploited geometric structure capable of providing globally referenced localization cues. In this work, we present two complementary lo…
cs.RO2025
Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
Derek Benham, Derek R. Benham, Easton Potokar +2
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularl…