Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar 

Vial Serrat, Pau; Palomeras Rovira, Narcís; Solà Ortega, Joan; Carreras Pérez, Marc (2024-05)

The underwater domain is a challenging environment for robotics because widely used electromagnetic devices must be substituted by acoustic equivalents, much slower and noisier. In this paper a two-dimensional pose ...