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cs.RO2026
InsSo3D: Inertial Navigation System and 3D Sonar SLAM for turbid environment inspection
Simon Archieri, Ahmet Cinar, Shu Pan +4
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (IN…
cs.RO2026
VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction
Shu Pan, Simon Archieri, Ahmet Cinar +3
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VI…